Related papers: Swarm manipulation: An efficient and accurate tech…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
The range of applications of traditional optimization methods are limited by the features of the object variables, and of both the objective and the constraint functions. In contrast, population-based algorithms whose optimization…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
The virtual reality (VR) and human-computer interaction (HCI) combination has radically changed the way users approach a virtual environment, increasing the feeling of VR immersion, and improving the user experience and usability. The…
We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
RoomShift is a room-scale dynamic haptic environment for virtual reality, using a small swarm of robots that can move furniture. RoomShift consists of nine shape-changing robots: Roombas with mechanical scissor lifts. These robots drive…
In this work, we propose two algorithms that can be applied in the context of a networked virtual environment to efficiently handle the interpolation of displacement data for hand-based VR HMDs. Our algorithms, based on the use of…
Traditional Human-Swarm Interaction (HSI) methods often lack intuitive real-time adaptive interfaces, making decision making slower and increasing cognitive load while limiting command flexibility. To solve this, we present SwarmChat, a…
Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swarm modelling approaches are based on first principles and…
In this paper we describe a machine learning based framework for spacecraft swarm trajectory planning. In particular, we focus on coordinating motions of multi-spacecraft in formation flying through passive relative orbit(PRO) transfers.…
The on-orbit intelligent planning of satellites swarm has attracted increasing attention from scholars. Especially in tasks such as the pursuit and attachment of non-cooperative satellites, satellites swarm must achieve coordinated…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
We propose a novel Human-Swarm Interaction (HSI) framework which enables the user to control a swarm shape and formation. The user commands the swarm utilizing just arm gestures and motions which are recorded by an off-the-shelf wearable…
Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environments. Assessing the feasibility of new tasks for swarms is…
Due to the potentially large number of units involved, the interaction with a multi-robot system is likely to exceed the limits of the span of apprehension of any individual human operator. In previous work, we studied how this issue can be…
Physical rehabilitation plays a crucial role in restoring functional abilities, but traditional approaches often face challenges in terms of cost, accessibility, and personalized monitoring. Asynchronous physical rehabilitation has gained…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Swarm intelligence optimization algorithms can be adopted in swarm robotics for target searching tasks in a 2-D or 3-D space by treating the target signal strength as fitness values. Many current works in the literature have achieved good…