Related papers: Potential gains of communication-compute-control c…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
In unmanned space exploration, the cooperation among space robots requires advanced communication techniques. In this paper, we propose a communication optimization scheme for a specific cooperation system named the "mother-daughter…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
When designing distributed controllers for large-scale systems, the actuation, sensing and communication architectures of the controller can no longer be taken as given. In particular, controllers implemented using dense architectures…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
Note: This preprint has been superseded by arXiv:1806.04318. Recent advances in nanotechnology have enabled researchers to control individual quantum mechanical objects with unprecedented accuracy, opening the door for both quantum and…
Identifying changes in contact during contact-rich manipulation can detect task state or errors, enabling improved robustness and autonomy. The ability to detect contact is affected by the mechatronic design of the robot, especially its…
Self-organization offers a promising approach for designing adaptive systems. Given the inherent complexity of most cyber-physical systems, adaptivity is desired, as predictability is limited. Here I summarize different concepts and…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
The emerging edge-hub-cloud paradigm has enabled the development of innovative latency-critical cyber-physical applications in the edge-cloud continuum. However, this paradigm poses multiple challenges due to the heterogeneity of the…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
Information compression is essential to reduce communication cost in distributed optimization over peer-to-peer networks. This paper proposes a communication-efficient linearly convergent distributed (COLD) algorithm to solve strongly…
The design of future mobility solutions and the design of the mobility systems they enable are closely coupled. Indeed, knowledge about the intended service of novel mobility solutions would impact their design and deployment process,…
The collaboration between humans and robots re-quires a paradigm shift not only in robot perception, reasoning, and action, but also in the design of the robotic cell. This paper proposes an optimization framework for designing…