Related papers: RODEO: RObotic DEcentralized Organization
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous service robots that can operate in real environments for…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on…
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Generalizing decentralized multi-robot cooperative transport across objects with diverse shapes and physical properties remains a fundamental challenge. Under decentralized execution, two key challenges arise: object-dependent…
A blockchain is a decentralized ledger where all transactions are recorded. For having a reliable blockchain and double-spending prevention, we need a decentralized consensus and agreement on a blockchain. Bitcoin uses proof-of-work (PoW).…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
In the paradigm of decentralized learning, a group of agents collaborate to learn a global model using a distributed dataset without a central server; nevertheless, it is severely challenged by the heterogeneity of the data distribution…
Machine Learning systems rely on data for training, input and ongoing feedback and validation. Data in the field can come from varied sources, often anonymous or unknown to the ultimate users of the data. Whenever data is sourced and used,…
From learning assistance to companionship, social robots promise to enhance many aspects of daily life. However, social robots have not seen widespread adoption, in part because (1) they do not adapt their behavior to new users, and (2)…
As autonomous robots are deployed in increasingly complex environments, platform degradation, environmental uncertainties, and deviations from validated operation conditions can make it difficult for human partners to understand robot…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
Decentralized Autonomous Organizations (DAOs) are attracting interdisciplinary interest, particularly in business, economics, and computer science. However, much like the parable of the blind men and the elephant, where each observer…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…