Related papers: Offload or Overload: A Platform Measurement Study …
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
The increasing demand for artificial intelligence (AI) workloads across diverse computing environments has driven the need for more efficient data management strategies. Traditional cloud-based architectures struggle to handle the sheer…
Offloading high-demanding applications to the edge provides better quality of experience (QoE) for users with limited hardware devices. However, to maintain a competitive QoE, infrastructure, and service providers must adapt to users'…
The rapid growth of mobile devices and the increasing complexity of tasks have made energy efficiency a critical challenge in Multi-Access Edge Computing (MEC) systems. This paper explores energy-efficient offloading strategies in…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
Mobile edge computing is beneficial to reduce service response time and core network traffic by pushing cloud functionalities to network edge. Equipped with storage and computation capacities, edge nodes can cache services of…
This paper studies a novel user cooperation model in a wireless powered mobile edge computing system where two wireless users harvest wireless power transferred by one energy node and can offload part of their computation tasks to an edge…
The increasing complexity of Intelligent Transportation Systems (ITS) has led to significant interest in computational offloading to external infrastructures such as edge servers, vehicular nodes, and UAVs. These dynamic and heterogeneous…
We consider the problem of task offloading in multi-access edge computing (MEC) systems constituting $N$ devices assisted by an edge server (ES), where the devices can split task execution between a local processor and the ES. Since the…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
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…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…
Mobile robot fleets are currently used in different scenarios such as medical environments or logistics. The management of these systems provides different challenges that vary from the control of the movement of each robot to the…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…