Related papers: Scene Synchronization for Real-Time Interaction in…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
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…
Recent advancements in 4D scene reconstruction using neural radiance fields (NeRF) have demonstrated the ability to represent dynamic scenes from multi-view videos. However, they fail to reconstruct the dynamic scenes and struggle to fit…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
Integrating mixed reality (MR) with artificial intelligence (AI) technologies, including vision, language, audio, reasoning, and planning, enables the AI-powered MR assistant [1] to substantially elevate human efficiency. This enhancement…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…
This paper proposes an accelerated consensus-based distributed iterative algorithm for resource allocation and scheduling. The proposed gradient-tracking algorithm introduces an auxiliary variable to add momentum towards the optimal state.…
Novel-view synthesis techniques achieve impressive results for static scenes but struggle when faced with the inconsistencies inherent to casual capture settings: varying illumination, scene motion, and other unintended effects that are…
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Immersive virtual reality (VR) applications impose stringent requirements on latency, energy efficiency, and computational resources, particularly in multi-user interactive scenarios. To address these challenges, we introduce the concept of…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
Dynamic networks -- networks that change over time -- can be categorized into two types: offline dynamic networks, where all states of the network are known, and online dynamic networks, where only the past states of the network are known.…
Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
The next generation of AI applications will continuously interact with the environment and learn from these interactions. These applications impose new and demanding systems requirements, both in terms of performance and flexibility. In…
The proliferation of GPS-enabled devices has led to the development of numerous location-based services. These services need to process massive amounts of spatial data in real-time. The current scale of spatial data cannot be handled using…
As scene segmentation systems reach visually accurate results, many recent papers focus on making these network architectures faster, smaller and more efficient. In particular, studies often aim at designingreal-time'systems. Achieving this…