Related papers: UTTG_ A Universal Teleoperation Approach via Onlin…
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
In this work, we study the classical distributed optimization problem over digraphs, where the objective function is a sum of smooth local functions. Inspired by the implicit tracking mechanism proposed in our earlier work, we develop a…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
Learning to effectively imitate human teleoperators, with generalization to unseen and dynamic environments, is a promising path to greater autonomy enabling robots to steadily acquire complex skills from supervision. We propose a new…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Text-to-video generation has advanced rapidly in visual fidelity, whereas standard methods still have limited ability to control the subject composition of generated scenes. Prior work shows that adding localized text control signals, such…
Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…
Video temporal grounding (VTG) is typically tackled with dataset-specific models that transfer poorly across domains and query styles. Recent efforts to overcome this limitation have adapted large multimodal language models (MLLMs) to VTG,…
Generating trajectory data is among promising solutions to addressing privacy concerns, collection costs, and proprietary restrictions usually associated with human mobility analyses. However, existing trajectory generation methods are…
A reliable wireless connection between the operator and the teleoperated Unmanned Ground Vehicle (UGV) is critical in many Urban Search and Rescue (USAR) missions. Unfortunately, as was seen in e.g. the Fukushima disaster, the networks…
Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming…