Related papers: Time Synchronization in modular collaborative robo…
Algorithms for the synchronisation of clocks across networks are both common and important within distributed systems. We here address not only the formal modelling of these algorithms, but also the formal verification of their behaviour.…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Social compatibility is one of the most important parameters for service robots. It characterizes the quality of interaction between a robot and a human. In this paper, a human-centered benchmarking framework is proposed for…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
In this paper, we study the problem of robust global synchronization of resetting clocks in multi-agent networked systems, where by robust global synchronization we mean synchronization that is insensitive to arbitrarily small disturbances,…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
One of the major challenges in distributed systems is establishing consistency among replicated data in a timely fashion. While the consistent ordering of events has been extensively researched, the time span to reach a consistent state is…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
One critical value microgrids bring to power systems is resilience, the capability of being able to island from the main grid under certain conditions and connect back when necessary. Once islanded, a microgrid must be synchronized to the…
Accurate and fast-convergent time synchronization is very important for wireless sensor networks. The flooding time synchronization converges fast, but its transmission delay and by-hop error accumulation seriously reduce the…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
The clock synchronization problem is to determine the time difference T between two spatially separated parties. We improve on I. Chuang's quantum clock synchronization algorithm and show that it is possible to obtain T to n bits of…
Accurate wireless timing synchronization has been an extremely important topic in wireless sensor networks, required in applications ranging from distributed beam forming to precision localization and navigation. However, it is very…