Related papers: Time Synchronization in modular collaborative robo…
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown environments and under heterogeneous inter-agent communication…
Many current robot designs prioritize efficiency and one-size-fits-all solutions, oftentimes overlooking personalization, adaptability, and sustainability. To explore alternatives, we conducted two co-design workshops with 23 participants,…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Clock synchronization has become a key design objective in wireless networks for its essential importance in many applications. However, as the wireless link is prone to random network delays due to unreliable channel conditions, it is in…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Synchronizing clocks on Internet of Things (IoT) devices is important for applications such as monitoring and real time control. In this paper, we describe a system for clock synchronization in IoT devices that is designed to be scalable,…
Clock asynchronism is a critical issue in integrating radar sensing into communication networks. It can cause ranging ambiguity and prevent coherent processing of dis-continuous measurements in integration with asynchronous transceivers.…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
Clock synchronization is ubiquitous in wireless systems for communication, sensing and control. In this paper we design a scalable system in which an indefinite number of passively receiving wireless units can synchronize to a single master…
Accurate time synchronization is essential for Internet of Things (IoT) systems, where multiple distributed nodes must share a common time base for coordinated sensing and data fusion. However, conventional synchronization approaches suffer…
One of the primary research interests adhering to next-generation fiber-wireless access networks is human-to-machine/robot (H2M/R) collaborative communications facilitating Industry 5.0. This paper discusses scalable H2M/R communications…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular…
With the advent of inexpensive simple humanoid robots, new classes of robotic questions can be considered experimentally. One of these is collective behavior of groups of humanoid robots, and in particular robot synchronization and…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…