Related papers: Control of an Internet-based Robot System Using th…
The Rate Control Protocol (RCP) is a congestion control protocol that relies on explicit feedback from routers. RCP estimates the flow rate using two forms of feedback: rate mismatch and queue size. However, it remains an open design…
The digitization of traffic sensing infrastructure has significantly accumulated an extensive traffic data warehouse, which presents unprecedented challenges for transportation analytics. The complexities associated with querying…
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
Embedded real-time devices for monitoring, controlling, and collaboration purposes in cyber-physical systems are now commonly equipped with IP networking capabilities. However, the reception and processing of IP packets generates workloads…
Due to rapid advancement in modern technology, as one of the major concerns is the stability of business. The organizations depend on their systems to provide robust and faster processing of information for their operations. Efficient data…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Reliable social connectivity and transmission of data for popular nodes is vital in multihop Ad-hoc Social Networks (ASNETs). In this networking paradigm, transmission unreliability could be caused by multiple social applications running on…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Video surveillance systems are increasingly used in different fields, from the domestic to the commercial environment. Current systems are being improved and complemented with new elements and functionalities. This paper proposes the design…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
The Stream Control Transmission Protocol (SCTP) is a Transport Layer protocol that has been proposed as an alternative to the Transmission Control Protocol (TCP) for the Internet of Things (IoT). SCTP, with its four-way handshake mechanism,…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
One of the most challenging coordination problems in artificial intelligence is to achieve successful collaboration across large-scale heterogeneous systems that include Robots, Agents, and People (RAP). In the best case, these RAP systems…
Modern robotics often involves the use of web technologies as a means to cope with the complexity of design and operation. Many of these technologies have been formalized into standards, which are often avoided by those in robotics and…
We introduce CTCP, a reliable transport protocol using network coding. CTCP is designed to incorporate TCP features such as congestion control, reliability, and fairness while significantly improving on TCP's performance in lossy,…
In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE),…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…