Related papers: Bilateral Teleoperation of Multiple Robots under S…
Distributed learning platforms for processing large scale data-sets are becoming increasingly prevalent. In typical distributed implementations, a centralized master node breaks the data-set into smaller batches for parallel processing…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
We consider a distributed computing network consisting of a master and multiple workers processing tasks of different types. The master is running multiple applications. Each application stochastically generates real-time jobs with a strict…
Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions…
We consider the problem of efficiently scheduling jobs with precedence constraints on a set of identical machines in the presence of a uniform communication delay. Such precedence-constrained jobs can be modeled as a directed acyclic graph,…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…
The remote synchronization of oscillators is essential for improving the performance, efficiency, and reliability of various systems and technologies, ranging from everyday telecommunications to cutting-edge scientific research and emerging…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
We study anticipated synchronization in two complex Ginzburg-Landau systems coupled in a master-slave configuration. Master and slave systems are ruled by the same autonomous function, but the slave system receives the injection from the…
In this work we are interested in the problem of scheduling and redistributing data on master-slave platforms. We consider the case were the workers possess initial loads, some of which having to be redistributed in order to balance their…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
We study the problem of scheduling jobs on fault-prone machines communicating via a shared channel, also known as multiple-access channel. We have $n$ arbitrary length jobs to be scheduled on $m$ identical machines, $f$ of which are prone…
We study the problem of scheduling precedence-constrained jobs on heterogenous machines in the presence of non-uniform job and machine communication delays. We are given as input $n$ unit size precedence-ordered jobs and $m$ related…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…