Related papers: Mobile Robot Control and Autonomy Through Collabor…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
In order to improve the task execution capability of home service robot, and to cope with the problem that purely physical robot platforms cannot sense the environment and make decisions online, a method for building digital twin system for…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
With the development of satellite communication technology, satellite-terrestrial integrated networks (STIN), which integrate satellite networks and ground networks, can realize seamless global coverage of communication services.…
Vehicle-road collaboration is a promising approach for enhancing the safety and efficiency of autonomous driving by extending the intelligence of onboard systems to smart roadside infrastructures. The introduction of digital twins (DTs),…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
With the arrival of the big data era, mobility profiling has become a viable method of utilizing enormous amounts of mobility data to create an intelligent transportation system. Mobility profiling can extract potential patterns in urban…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
With the development of V2X technology, multiple vehicles cooperative control has been widely studied. However, filed testing is rarely conducted due to financial and safety considerations. To solve this problem, this study proposes a…
Digital Twin (DT) technologies promise to remove cyber-physical barriers in systems and services and provide seamless management of distributed resources effectively. Ideally, full-fledged instantiations of DT offer bi-directional features…
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…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Path planning under wireless performance constraints is a complex challenge in robot navigation. However, naively incorporating such constraints into classical planning algorithms often incurs prohibitive search costs. In this paper, we…
Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with the lack of a unified model, complex dynamic interactions, and…
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service…
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…