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Wirelessly-connected robotic systems empower robots with real-time intelligence by leveraging remote computing resources for decision-making. However, the data exchange between robots and edge servers often overwhelms communication links,…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Multi-robot systems in complex physical collaborations face a "shared brain dilemma": transmitting high-dimensional multimedia data (e.g., video streams at ~30MB/s) creates severe bandwidth bottlenecks and decision-making latency. To…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Wireless transmission of high-dimensional 3D point clouds (PCs) is increasingly required in industrial collaborative robotics systems. Conventional compression methods prioritize geometric fidelity, although many practical applications…
Camera sensors have been widely used in intelligent robotic systems. Developing camera sensors with high sensing efficiency has always been important to reduce the power, memory, and other related resources. Inspired by recent success on…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…
Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communication bandwidth is a considerable constraint when a robot…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…