Related papers: Control of an Internet-based Robot System Using th…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
This work addresses the problem of robot interaction in complex environments where online control and adaptation is necessary. By expanding the sample space in the free energy formulation of path integral control, we derive a natural…
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the…
The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…
This paper proposes real-time sequential convex programming (RTSCP), a method for solving a sequence of nonlinear optimization problems depending on an online parameter. We provide a contraction estimate for the proposed method and, as a…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Nowadays, the Internet of Things (IoT) concept is gaining more and more notoriety bringing the number of connected devices to reach the order of billion units. Its smart technology is influencing the research and developments of advanced…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Turn-taking is a crucial aspect of human-robot interaction, directly influencing conversational fluidity and user engagement. While previous research has explored turn-taking models in controlled environments, their robustness in real-world…
This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot manipulator with five…
We introduce CTCP, a novel multi-path transport protocol using network coding. CTCP is designed to incorporate TCP's good features, such as congestion control and reliability, while improving on TCP's performance in lossy and/or dynamic…
Main responsibility of a transport protocol is to support communication between two end-to-end entities. These entities can be hosts or devices, such as routers, firewalls etc. Transport protocol provides mechanism to have a virtually…
With the development of sensors, wireless mobile communication, embedded system, the technologies of the Internet of Things have been widely used in SmartMeter, public security, intelligent building and so on. Because of its huge market…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
A programmable quantum networks model is used in this paper for development of methods of control of a quantum state transport. These methods may be applied for a wide variety of patterns of controlled state transmission and spreading in…
Transmission Control Protocol (TCP) carries most of the traffic on the Internet these days. There are several implementations of TCP, and the most important difference among them is their mechanism for controlling congestion. One of the…
The Real-time Transport Protocol (RTP)-based real-time communications (RTC) applications, exemplified by video conferencing, have experienced an unparalleled surge in popularity and development in recent years. In pursuit of optimizing…
Efficient routing is one of the key challenges of wireless networking for unmanned autonomous vehicles (UAVs) due to dynamically changing channel and network topology characteristics. Various well known mobile-ad-hoc routing protocols, such…
The Transmission Control Protocol (TCP) is a Transport Protocol used in the Internet. Ott has introduced a more general class of candidate Transport Protocols called "protocols in the TCP Paradigm". The long run objective of studying this…