Related papers: Bilateral Teleoperation of Multiple Robots under S…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
We study scheduling control of parallel processing networks in which some resources need to simultaneously collaborate to perform some activities and some resources multitask. Resource collaboration and multitasking give rise to…
Massive machine-type communications protocols have typically been designed under the assumption that coordination between users requires significant communication overhead and is thus impractical. Recent progress in efficient activity…
In this paper, we address the scheduling problem of multi-mode real-time systems upon uniform multiprocessor platforms. We propose two transition protocols, specified together with their schedulability test, and provide the reader with two…
By means of the emerging technique of dynamic Time Division Duplex (TDD), the switching point between uplink and downlink transmissions can be optimized across a multi-cell system in order to reduce the impact of inter-cell interference. It…
We consider a MapReduce-type task running in a distributed computing model which consists of ${K}$ edge computing nodes distributed across the edge of the network and a Master node that assists the edge nodes to compute output functions.…
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…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
This work considers the sensor scheduling for multiple dynamic processes. We consider $n$ linear dynamic processes, the state of each process is measured by a sensor, which transmits their local state estimates over wireless channels to a…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Information-theoretic arguments focus on modeling the reliability of information transmission, assuming availability of infinite data at sources, thus ignoring randomness in message generation times at the respective sources. However, in…
Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Several novel industrial applications involve human control of vehicles, cranes, or mobile robots through various high-throughput feedback systems, such as Virtual Reality (VR) and tactile/haptic signals. The near real-time interaction…