相关论文: Synchronous Robotic Framework
This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decision-making, and intentional language communication. It…
Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Within the field of robotics, computer vision remains a significant barrier to progress, with many tasks hindered by inefficient vision systems. This research proposes a generalized vision module leveraging YOLOv9, a state-of-the-art…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Federated learning has been identified as an efficient decentralized training paradigm for scaling the machine learning model training on a large number of devices while guaranteeing the data privacy of the trainers. FedAvg has become a…
The prevailing paradigm in Robotic Mobile Fulfillment Systems (RMFS) typically treats order scheduling and multi-agent pathfinding as isolated sub-problems. We argue that this decoupling is a fundamental bottleneck, masking the critical…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic…
DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a…
In order to improve the stability of synchrotron radiation, we developed a new method of machine learning-based closed orbit feedback and piloted it in the storage ring of the Shanghai Synchrotron Radiation Facility (SSRF). In our…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
This paper presents and characterizes an Open Application Repository for Federated Learning (OARF), a benchmark suite for federated machine learning systems. Previously available benchmarks for federated learning have focused mainly on…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…