Related papers: Experimental Study of Decentralized Robot Network …
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
For utilization of robotic assistive devices in everyday life, means for detection and processing of erroneous robot actions are a focal aspect in the development of collaborative systems, especially when controlled via brain signals.…
Brain-controlled robots are a promising new type of assistive device for severely impaired persons. Little is however known about how to optimize the interaction of humans and brain-controlled robots. Information about the human's perceived…
Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
This paper introduces the research effort of an undergraduate research team in realizing robot localization. More specifically, the undergraduate research team developed and tested wall-following software that allowed a ground robot Roombas…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
By spreading phases on the unit circle, desynchronization algorithm is a powerful tool to achieve round-robin scheduling, which is crucial in applications as diverse as media access control of communication networks, realization of…
While many robotic tasks can be addressed using either centralized single-agent control with full state observation or decentralized multi-agent control, clear criteria for choosing between these approaches remain underexplored. This paper…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Efficient utilization of licensed spectrum in the cognitive radio network is challenging due to lack of coordination among the Secondary Users (SUs). Distributed algorithms proposed in the literature aim to maximize the network throughput…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication…
We describe a probabilistic framework for synthesizing control policies for general multi-robot systems, given environment and sensor models and a cost function. Decentralized, partially observable Markov decision processes (Dec-POMDPs) are…
Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…
In this project we evaluate a framework for synchronization of mixed machine-converter power grids. Synchronous machines are assumed to be actuated by mechanical torque injections, while the converters by DC-side current injections. As this…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…