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Due to the increasing complexity seen in both workloads and hardware resources in state-of-the-art embedded systems, developing efficient real-time schedulers and the corresponding schedulability tests becomes rather challenging. Although…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Controlling hands in high-dimensional action space has been a longstanding challenge, yet humans naturally perform dexterous tasks with ease. In this paper, we draw inspiration from the concept of internal model exhibited in human behavior…
Control Systems, particularly closed-loop control systems (CLCS), are frequently used in production machines, vehicles, and robots nowadays. CLCS are needed to actively align actual values of a process to a given reference or set values in…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Human-robot interaction through mixed reality (MR) technologies enables novel, intuitive interfaces to control robots in remote operations. Such interfaces facilitate operations in hazardous environments, where human presence is risky, yet…
The underlying framework for controlling autonomous robots and complex automation applications are Operating Systems (OS) capable of scheduling perception-and-control tasks, as well as providing real-time data communication to other robotic…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
An elastic rod is a long and thin body able to sustain large global deformations, even if local strains are small. The Cosserat rod is a non-linear elastic rod with an oriented centreline, which enables modelling of bending, stretching and…
Heterogeneous parallel systems are widely spread nowadays. Despite their availability, their usage and adoption are still limited, and even more rarely they are used to full power. Indeed, compelling new technologies are constantly…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for…
On-stack replacement (OSR) dynamically transfers execution between different code versions. This mechanism is used in mainstream runtime systems to support adaptive and speculative optimizations by running code tailored to provide the best…
Traditional autonomous driving methods adopt a modular design, decomposing tasks into sub-tasks. In contrast, end-to-end autonomous driving directly outputs actions from raw sensor data, avoiding error accumulation. However, training an…