相关论文: Synchronous Robotic Framework
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…
Swarm intelligence optimization algorithms can be adopted in swarm robotics for target searching tasks in a 2-D or 3-D space by treating the target signal strength as fitness values. Many current works in the literature have achieved good…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…
Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…
Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…
In this paper we explore the use of symbolic knowledge and machine teaching to reduce human data labeling efforts in building neural task bots. We propose SYNERGY, a hybrid learning framework where a task bot is developed in two steps: (i)…
Cross-silo Federated Learning (FL) enables multiple institutions to collaboratively train machine learning models while preserving data privacy. In such settings, clients repeatedly exchange model weights with a central server, making the…
With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…