相关论文: Talk Resource-Efficiently to Me: Optimal Communica…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
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…
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…
Machine Learning has proven useful in the recent years as a way to achieve failure prediction for industrial systems. However, the high computational resources necessary to run learning algorithms are an obstacle to its widespread…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
A novel simultaneous localization and radio mapping (SLARM) framework for communication-aware connected robots in the unknown indoor environment is proposed, where the simultaneous localization and mapping (SLAM) algorithm and the global…
Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex environments. However, these systems struggle in real-world…
Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building…
Distributed resource allocation is a central task in network systems such as smart grids, water distribution networks, and urban transportation systems. When solving such problems in practice it is often important to have nonasymptotic…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
Distributed deep learning (DL) has become prevalent in recent years to reduce training time by leveraging multiple computing devices (e.g., GPUs/TPUs) due to larger models and datasets. However, system scalability is limited by…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, this paper has three main contributions. First, we describe…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…