相关论文: Setting Up the Beam for Human-Centered Service Tas…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…
AI tools to support real world decision making must be able to build simulation models that inform their recommendations and render them interpretable. Tools that can automate aspects of modeling practice must complement human expertise,…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Heterogeneous multi-robot systems (HMRS) have emerged as a powerful approach for tackling complex tasks that single robots cannot manage alone. Current large-language-model-based multi-agent systems (LLM-based MAS) have shown success in…
In the rapidly advancing field of robotics, the fusion of state-of-the-art visual technologies with mobile robotic arms has emerged as a critical integration. This paper introduces a novel system that combines the Segment Anything model…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic…
Utilizing robots for autonomous target search in complex and unknown environments can greatly improve the efficiency of search and rescue missions. However, existing methods have shown inadequate performance due to hardware platform…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
A key challenge in human-robot collaboration is the non-stationarity created by humans due to changes in their behaviour. This alters environmental transitions and hinders human-robot collaboration. We propose a principled meta-learning…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…