Related papers: Synchronous Robotic Framework
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Federated robotic task execution systems require bridging natural language instructions to distributed robot control while efficiently managing computational resources across heterogeneous edge devices without centralized coordination.…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…
As artificial intelligence (AI) technology advances, ensuring the robustness and safety of AI-driven systems has become paramount. However, varying perceptions of robustness among AI developers create misaligned evaluation metrics,…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…
As Federated Learning (FL) expands to larger and more distributed environments, consistency in training is challenged by network-induced delays, clock unsynchronicity, and variability in client updates. This combination of factors may…
Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require the user to interface with…
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system,…
Federated bilevel optimization (FBO) has shown great potential recently in machine learning and edge computing due to the emerging nested optimization structure in meta-learning, fine-tuning, hyperparameter tuning, etc. However, existing…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Swarm robotics systems have the potential to transform warfighting in urban environments, but until now have not seen large-scale field testing. We present the Rapid Integration Swarming Ecosystem (RISE), a platform for future multi-agent…
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…