相关论文: A Decentralized Interactive Architecture for Aeria…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
In this work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach…
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…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack of reliability in the communications infrastructure, and a…
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor environments like factories can be supported by…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
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…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…