Related papers: Fault-Tolerant Multi-Robot Coordination with Limit…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Interesting and efficient collective behavior observed in multi-robot or swarm systems emerges from the individual behavior of the robots. The functional space of individual robot behaviors is in turn shaped or constrained by the robot's…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…
Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Uncertainty is a major difficulty in endowing robots with autonomy. Robots often fail due to unexpected events. In robot contact tasks are often design to empirically look for force thresholds to define state transitions in a Markov chain…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal…