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Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…
Many robotic applications that are critical for robot performance require immediate feedback, hence execution time is a critical concern. Furthermore, it is common that robots come with a fixed quantity of hardware resources; if an…
Mobile devices supporting the "Internet of Things" (IoT), often have limited capabilities in computation, battery energy, and storage space, especially to support resource-intensive applications involving virtual reality (VR), augmented…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Computational offloading is a promising approach for overcoming resource constraints on client devices by moving some or all of an application's computations to remote servers. With the advent of specialized hardware accelerators, client…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
In mobile edge computing systems, an edge node may have a high load when a large number of mobile devices offload their tasks to it. Those offloaded tasks may experience large processing delay or even be dropped when their deadlines expire.…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…
Fog computing offloads latency critical application services running on the Cloud in close proximity to end-user devices onto resources located at the edge of the network. The research in this paper is motivated towards characterising and…
Providing mobile robots with the ability to manipulate objects has, despite decades of research, remained a challenging problem. The problem is approachable in constrained environments where there is ample prior knowledge of the environment…
Computation offloading is often used in mobile cloud, edge, and/or fog computing to cope with resource limitations of mobile devices in terms of computational power, storage, and energy. Computation offloading is particularly challenging in…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the…
Computing at the edge is increasingly important since a massive amount of data is generated. This poses challenges in transporting all that data to the remote data centers and cloud, where they can be processed and analyzed. On the other…
With the continuous increment of maritime applications, the development of marine networks for data offloading becomes necessary. However, the limited maritime network resources are very difficult to satisfy real-time demands. Besides, how…
AI tools are increasingly integrated into real-world workflows. However, existing measures of reliance on these tools focus on AI output adoption or on self-reported indicators, rather than how task effort is distributed between users and…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…