Related papers: Control of an Internet-based Robot System Using th…
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots'…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Multipath TCP (MPTCP) has been widely used as an efficient way for communication in many applications. Data centers, smartphones, and network operators use MPTCP to balance the traffic in a network efficiently. MPTCP is an extension of TCP…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy sampling schemes. We propose \emph{Model Tensor Planning}…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Cyber-physical systems (CPSs) for real-time advanced process control (RT-APC) are a class of control systems using network communication to control industrial processes. In this paper, we use simple examples to describe the software…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
This paper introduces the Adaptive Context-Aware Multi-Path Transmission Control Protocol (ACMPTCP), an efficient approach designed to optimize the performance of Multi-Path Transmission Control Protocol (MPTCP) for data-intensive…
Voice over Internet Protocol (VoIP) technologies are integral to modern telecommunications because of their advanced features, flexibility, and economic benefits. Internet Service Providers initially promoted these technologies by providing…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
It is not always possible for a robot to process all the information from its sensors in a timely manner and thus quick and yet valid approximations of the robot's situation are needed. Here we design hybrid control for a robot within this…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
Communication networks form the backbone of our society. Topology control algorithms optimize the topology of such communication networks. Due to the importance of communication networks, a topology control algorithm should guarantee…
Since the 1990s, the telephone has been the primary mode of communication. However, Voice over Internet Protocol (VoIP), which is a highly straightforward and affordable form of data transfer, is now becoming an important part of daily…
Topology Control (TC) aims at tuning the topology of highly dynamic networks to provide better control over network resources and to increase the efficiency of communication. Recently, many TC protocols have been proposed. The protocols are…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…