Related papers: Control of an Internet-based Robot System Using th…

The telephony over IP (ToIP) is becoming a new trend in technology widely used nowadays in almost all business sectors. Its concepts rely on transiting the telephone communications through the IP network. Today, this technology is deployed…

In recent years, Session Initiation Protocol (SIP) has become widely used in current internet protocols. It is a text-based protocol much like Hyper Text Transport Protocol (HTTP) and Simple Mail Transport Protocol (SMTP). SIP is a strong…

Personal Rapid Transit (PRT) is a promising form of urban transport. Its operation consists in the use of small unmanned vehicles which convey the passengers among stations within a dedicated network. Various aspects of the PRT network…

Qubit transmission protocols are presently point-to-point, and thus restrictive in their functionality. A quantum router is necessary for the quantum Internet to become a reality. We present a quantum router design based on teleportation,…

Several studies have considered control theory tools for traffic control in communication networks, as for example the congestion control issue in IP (Internet Protocol) routers. In this paper, we propose to design a linear observer for…

Traffic congestion has lead to an increasing emphasis on management measures for a more efficient utilization of existing infrastructure. In this context, this paper proposes a novel framework that integrates real-time optimization of…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

This paper proposes a formal model for a network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics and control theory, we define notions of robotic network, control and communication…

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…

A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

A few months ago, the BitTorrent developers announced that the transfer of torrent data in the official client was about to switch to uTP, an application-layer congestion-control protocol using UDP at the transport-layer. This announcement…

In this paper we propose a new scheduling algorithm called Real Time Scheduling (RTS) which uses virtual nodes for self stabilization. This algorithm deals with all the contributing components of the end-to-end travelling delay of data…

We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…

Use of robotic infrastructures can significantly increase with remote access. This would open up the possibility to use costly equipment without the need to buy them, or to simply access those assets remotely when actual travel is not…

We argue that Time-Sensitive Networking (TSN) will become the de facto standard for real-time communications in robotics. We present a review and classification of the different communication standards which are relevant for the field and…

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…

Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The primary control may come from a human operator, an advanced control approach, or an…

The AIMD algorithm, which underpins the Transmission Control Protocol (TCP) for transporting data packets in communication networks, is perhaps the most successful control algorithm ever deployed. Recently, its use has been extended beyond…

Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…