Related papers: Digital-Twin Evaluation for Proactive Human-Robot …
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…
Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…
Digital twins are transforming engineering and applied sciences by enabling real-time monitoring, simulation, and predictive analysis of physical systems and processes. However, conventional digital twins rely primarily on passive data…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Digital twins have attracted a great deal of recent attention from a wide range of fields. A basic requirement for digital twins of nonlinear dynamical systems is the ability to generate the system evolution and predict potentially…
The integration of accurate and reproducible wireless network simulations is a key enabler for research on open, virtualized, and intelligent communication systems. Network Digital Twins (NDTs) provide a scalable alternative to costly and…
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…
As autonomous machines such as robots and vehicles start performing tasks involving human users, ensuring a safe interaction between them becomes an important issue. Translating methods from human-robot interaction (HRI) studies to the…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
Advanced Driver Assistance Systems (ADAS) improve driving safety significantly. They alert drivers from unsafe traffic conditions when a dangerous maneuver appears. Traditional methods to predict driving maneuvers are mostly based on…
Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…
An autonomous vessel (AV) is a complex cyber-physical system (CPS) with software enabling many key functionalities, e.g., navigation software enables an AV to autonomously or semi-autonomously follow a path to its destination. Digital twins…
Hospital patient falls remain a critical and costly challenge worldwide. While conventional fall prevention systems typically rely on post-fall detection or reactive alerts, they also often suffer from high false positive rates and fail to…
Digital twins of sensory cortex serve as powerful response oracles. Although prediction accuracy is the central metric by which these models are evaluated, it provides limited insight into the latent representations that support those…