Related papers: Multi-robot Rigid Formation Navigation via Synchro…
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow…
As an emerging wireless communication technology, reconfigurable intelligent surface (RIS) has become a basic choice for providing signal coverage services in scenarios with dense obstacles or long tunnels through multi-hop configurations.…
Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through…
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
Reconfigurable intelligent surface (RIS) provides a promising way to proactively augment propagation environments for better transmission performance in wireless communications. Existing multi-RIS works mainly focus on link-level…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…