Related papers: Bilateral Teleoperation of Multiple Robots under S…
Motivated by modern parallel computing applications, we consider the problem of scheduling parallel-task jobs with heterogeneous resource requirements in a cluster of machines. Each job consists of a set of tasks that can be processed in…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We study the synchronization of two chaotic maps with unidirectional (master-slave) coupling. Both maps have an intrinsic delay $n_1$, and coupling acts with a delay $n_2$. Depending on the sign of the difference $n_1-n_2$, the slave map…
In this paper, we investigate centralized scheduling strategies for cooperative incremental redundancy retransmissions in the slow-fading half-duplex multiple access multiple relay channel. Time Division Multiple Access is assumed for the…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
Schedulability bounds not only serve as efficient tests to decide schedulability of real-time task systems but also reveal insights about the worst-case performance of scheduling algorithms. Different from sequential real-time task systems…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
Data communication in sensor networks can have timing constraints like end to end deadlines. If the deadlines are not met either a catastrophe can happen in hard real time systems or performance deterioration can occur in soft real time…
In this work the open-plus-closed-loop (OPCL) method of synchronization is used in order to synchronize the systems from the Sprott's collection of the simplest chaotic systems. The method is general and we were looking for the simplest…
Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…
Packet transmission scheduling on multi-hop wireless sensor networks with 3-egress gateway linear topology is studied. Each node generates a data packet in every one cycle period and forwards it bounded for either of gateways at edges. We…
Telesurgery is an effective way to deliver service from expert surgeons to areas without immediate access to specialized resources. However, many of these areas, such as rural districts or battlefields, might be subject to different…