Related papers: Robofleet: Open Source Communication and Managemen…
Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with ease. At the same time, teams of robots should co-acquire…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
With the widespread use of the Internet of Things, underwater control and monitoring systems for purposes such as ocean data sampling, natural disaster prevention, underwater surveillance, submarine exploration, and the like have become a…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
Inspection of aquaculture net pens is essential for ensuring the structural integrity and sustainable operation of offshore fish farming systems. Traditional methods, typically based on manually operated or single-ROV systems, offer limited…
Establishing and sustaining Metaverse service necessitates an unprecedented scale of resources. This paper considers the deployment of Metaverse service in a cloud-edge resource architecture, which can satisfy the escalating demand for…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
Collaborative perception in multi-robot fleets is a way to incorporate the power of unity in robotic fleets. Collaborative perception refers to the collective ability of multiple entities or agents to share and integrate their sensory…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…