Related papers: Offload or Overload: A Platform Measurement Study …
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities.…
The workload prediction and resource allocation significantly play an inevitable role in production of an efficient cloud environment. The proactive estimation of future workload followed by decision of resource allocation have become a…
Very High Throughput satellites typically provide multibeam coverage, however, a common problem is that there can be a mismatch between the capacity of each beam and the traffic demand: some beams may fall short, while others exceed the…
Computation offloading is indispensable for mobile edge computing (MEC). It uses edge resources to enable intensive computations and save energy for resource-constrained devices. Existing works generally impose strong assumptions on radio…
Recent advances in machine learning and hardware have produced embedded devices capable of performing real-time object detection with commendable accuracy. We consider a scenario in which embedded devices rely on an onboard object detector,…
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
Offloading is a popular way to overcome the resource and power constraints of networked embedded devices, which are increasingly found in industrial environments. It involves moving resource-intensive computational tasks to a more powerful…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Dragonfly interconnect is a crucial network technology for supercomputers. To support exascale systems, network resources are shared such that links and routers are not dedicated to any node pair. While link utilization is increased,…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Autonomous vehicles generate large volumes of data for applications such as fleet monitoring, model retraining, and high-definition map updates. Existing studies often rely on generic traffic traces, which do not capture the characteristics…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…
With the fast development of mobile edge computing (MEC), there is an increasing demand for running complex applications on the edge. These complex applications can be represented as workflows where task dependencies are explicitly…
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans…
Computational offloading has become an enabling component for edge intelligence in mobile and smart devices. Existing offloading schemes mainly focus on mobile devices and servers, while ignoring the potential network congestion caused by…
The integration of the Industrial Internet of Things (IIoT) with Artificial Intelligence-Generated Content (AIGC) offers new opportunities for smart manufacturing, but it also introduces challenges related to computation-intensive tasks and…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…