相关论文: Smoother Position-Drift Compensation for Time Doma…

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…

The time division multiple access (TDMA) technique has been applied in automotive multiple-input multiple-output (MIMO) radar. However, it suffers from the transmit energy loss, and as a result the parameter estimation performance…

This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…

This paper presents a novel Dynam-i-c Droop (iDroop) control mechanism to perform primary frequency control with gird-connected inverters that improves the network dynamic performance. The work is motivated by the dynamic degradation…

Vehicle teleoperation has numerous potential applications, including serving as a backup solution for autonomous vehicles, facilitating remote delivery services, and enabling hazardous remote operations. However, complex urban scenarios,…

Source localization is of pivotal importance in several areas such as wireless sensor networks and Internet of Things (IoT), where the location information can be used for a variety of purposes, e.g. surveillance, monitoring, tracking, etc.…

Locomotion is one of the most essential interaction tasks in virtual reality (VR) with teleportation being widely accepted as the state-of-the-art locomotion technique at the time of this writing. A major draw-back of teleportation is the…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

Reinforcement Learning (RL)-based methods have significantly improved the locomotion performance of legged robots. However, these motion policies face significant challenges when deployed in the real world. Robots operating in uncertain…

We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…

This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…

Existing local dynamic route planning algorithms, when directly applied to terrain following/terrain avoidance, or dynamic obstacle avoidance for large and medium-sized fixed-wing aircraft, fail to simultaneously meet the requirements of…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

Accurate network synchronization is a key enabler for services such as coherent transmission, cooperative decoding, and localization in distributed and cell-free networks. Unlike centralized networks, where synchronization is generally…

Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…

In two-way time-of-arrival (TOA) systems, a user device (UD) obtains its position by round-trip communications to a number of anchor nodes (ANs) at known locations. The objective function of the maximum likelihood (ML) method for two-way…

In advanced manufacturing systems, humans and robots collaborate to conduct the production process. Effective task planning and allocation (TPA) is crucial for achieving high production efficiency, yet it remains challenging in complex and…

This article emphasizes on inconsistencies in the dynamical estimates obtained by first-order transverse discontinuity mapping (TDM) and direct numerical observations for hybrid dynamical systems. Pitfalls of locally linearizing hybrid…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…