Related papers: Optimized Wireless Control and Telemetry Network f…
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps:…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Metarobotics aims to combine next generation wireless communication, multi-sense immersion, and collective intelligence to provide a pervasive, itinerant, and non-invasive access and interaction with distant robotized applications. Industry…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
The systems based on intelligent sensors are currently expanding, due to theirs functions and theirs performances of intelligence: transmitting and receiving data in real-time, computation and processing algorithms, metrology remote,…
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…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
Sensor networks and robots are both quickly evolving fields, the union of two fields seems inherently symbiotic. Collecting data from stationary sensors can be time consuming task and thus can be automated by adding wireless communication…
The remote wireless control of industrial systems is one of the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that need to be shared over the wireless medium may overload even…
Optical Wireless Communication (OWC) is regarded as an auspicious communication approach that can outperform the existing wireless technology. It utilizes LED lights, whose subtle variation in radiant intensity generate a binary data…
Robotic telesurgery has a potential to provide extreme and urgent health care services and bring unprecedented opportunities to deliver highly specialized skills globally. It has a significant societal impact and is regarded as one of the…
Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…