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In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Feedback-based optimization (FBO) provides a simple control framework for regulating a stable dynamical system to the solution of a constrained optimization problem in the presence of exogenous disturbances, and does so without full…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Modern AI technologies enable autonomous vehicles to perceive complex scenes, predict human behavior, and make real-time driving decisions. However, these data-driven components often operate as black boxes, lacking interpretability and…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Hardware-assisted trusted execution environments (TEEs) are critical building blocks of many modern applications. However, they have a one-way isolation model that introduces a semantic gap between a TEE and its outside world. This lack of…
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…
As we march towards the age of ubiquitous intelligence, we note that AI and intelligence are progressively moving from the cloud to the edge. The success of Edge-AI is pivoted on innovative circuits and hardware that can enable inference…
Scalable spin-based quantum computing demands precise and stable control of a large number of gate-defined quantum dots while minimizing wiring complexity and thermal load. Control architectures based on sample-and-hold (SH) multiplexing…
Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…
With the increased availability of condition monitoring data and the increased complexity of explicit system physics-based models, the application of data-driven approaches for fault detection and isolation has recently grown. While…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
In practice, we can not only disable some events, but also enforce the occurrence of some events prior to the occurrence of other events by external control. In this paper, we combine these two control mechanisms to synthesize a more…
In this paper, we consider a multiuser massive single-input multiple-output (SIMO) enabled Industrial Internet of Things (IIoT) communication system. To reduce the latency and overhead caused by channel estimation, we assume that only the…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
Automating design minimizes errors, accelerates the design process, and reduces cost. However, automating robot design is challenging due to recursive constraints, multiple design objectives, and cross-domain design complexity possibly…