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Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Comparing data defined over space and time is notoriously hard, because it involves quantifying both spatial and temporal variability, while at the same time taking into account the chronological structure of data. Dynamic Time Warping…
This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral…
The multi-agent pickup and delivery (MAPD) problem, in which multiple agents iteratively carry materials without collisions, has received significant attention. However, many conventional MAPD algorithms assume a specifically designed…
Power electronic devices such as HVDC and FACTS can be used to improve the damping of poorly damped inter-area modes in large power systems. This involves the use of wide-area feedback signals, which are transmitted via communication…
Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics, complex contact interactions, and sensitivity to…
An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for…
In a time division broadcast positioning system (TDBPS), a user device (UD) determines its position by obtaining sequential time-of-arrival (TOA) or pseudorange measurements from signals broadcast by multiple synchronized base stations…
In a time-division broadcast positioning system (TDBPS), localizing mobile targets using classical time difference of arrival (TDOA) methods poses significant challenges. Concurrent TDOA measurements are infeasible because targets receive…
A new approach is presented to the problem of compensating the beam squint effect arising in wideband terahertz (THz) hybrid massive multiple-input multiple-output (MIMO) systems, based on the joint optimization of the phase shifter (PS)…
This paper considers the discrete convexity of a cross-layer on-off transmission control problem in wireless communications. In this system, a scheduler decides whether or not to transmit in order to optimize the long-term quality of…
We consider distributed convex optimization problems in the regime when the communication between the server and the workers is expensive in both uplink and downlink directions. We develop a new and provably accelerated method, which we…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
In two-way time-of-arrival (TOA) systems, a user device (UD) obtains its position and timing information by round-trip communications to a number of anchor nodes (ANs) at known locations. Compared with the one-way TOA technique, the two-way…
Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision.…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…