相关论文: Connectivity-Preserving Swarm Teleoperation With A…

Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…

The network paradigm is used to gain insight into the structural root causes of the resilience of consensus in dynamic collective behaviors, and to analyze the controllability of the swarm dynamics. Here we devise the dynamic signaling…

Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the…

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…

This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…

Autonomous Unmanned Aerial Vehicles (UAVs) have gained popularity due to their many potential application fields. Alongside sophisticated sensors, UAVs can be equipped with communication adaptors aimed for inter-UAV communication.…

In this paper, we consider the swarm-control problem of spatially separating a specified target agent within the swarm from all the other agents, while maintaining the connectivity among the other agents. We specifically aim to achieve the…

The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…

Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into coordinated swarm actions and helping determine when…

Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…

The on-orbit intelligent planning of satellites swarm has attracted increasing attention from scholars. Especially in tasks such as the pursuit and attachment of non-cooperative satellites, satellites swarm must achieve coordinated…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…

In this paper, we present a systematic method of design for human-swarm interaction interfaces, combining theoretical insights with empirical evaluation. We first derived ten design principles from existing literature, applying them to key…

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE),…

Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also…