相关论文: Smoother Position-Drift Compensation for Time Doma…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
Movable antenna (MA) is a promising technology for improving the performance of wireless communication systems by providing new degrees-of-freedom (DoFs) in antenna position optimization. However, existing works on MA systems have mostly…
By harnessing the delay-Doppler (DD) resource domain, orthogonal time-frequency space (OTFS) substantially improves the communication performance under high-mobility scenarios by maintaining quasi-time-invariant channel characteristics.…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Indoor localization systems have become increasingly important in a wide range of applications, including industry, security, logistics, and emergency services. However, the growing demand for accurate localization has heightened concerns…
Partial Automation (PA) with intelligent support systems has been introduced in industrial machinery and advanced automobiles to reduce the burden of long hours of human operation. Under PA, operators perform manual operations (providing…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
The increasing penetration of renewable energy resources and utilization of energy storage systems pose new challenges in maintaining power system's stability. Specifically, the cost function of regulation no longer remains smooth, which…
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We present a Cartesian bilateral framework built on the…
Movable antennas (MAs) have received increasing attention in wireless communications due to their capability of antenna position adjustment to reconfigure wireless channels. However, moving MAs results in non-negligible delay, which may…
In feed-forward time-sensitive networks with Deficit Round-Robin (DRR), worst-case delay bounds were obtained by combining Total Flow Analysis (TFA) with the strict service curve characterization of DRR by Tabatabaee et al. The latter is…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…
Wireless sensor networks benefit from communication protocols that reduce power requirements by avoiding frame collision. Time Division Media Access methods schedule transmission in slots to avoid collision, however these methods often lack…
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays. As one of the best alternatives to human-level intelligence, Reinforcement Learning (RL) may offer a solution to cope…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
This paper improves safe motion primitives-based teleoperation of a multirotor by developing a hierarchical collision avoidance method that modulates maximum speed based on environment complexity and perceptual constraints. Safe speed…
The dynamic response of power grids to small events or persistent stochastic disturbances influences their stable operation. Low-frequency inter-area oscillations are of particular concern due to insufficient damping. This paper studies the…
This paper has been withdrawn by arXiv. arXiv admin note: author list truncated due to disputed authorship and content. This submission repeats large portions of text from this http URL by other authors. Duty cycle mode in WSN improves…
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly…