相关论文: Enabling Remote Whole-Body Control with 5G Edge Co…
Ubiquitous information service converged by different types of heterogeneous networks is one of fundamental functions for smart cities. Considering the deployment of 5G ultra-dense wireless networks, the 5G converged cell-less communication…
We consider the problem of allocating 5G radio resources over wireless communication links to control a series of independent low-latency wireless control systems common in industrial settings. Each control system sends state information to…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
The concept of federation in 5G and NFV networks aims to provide orchestration of services across multiple administrative domains. Edge robotics, as a field of robotics, implements the robot control on the network edge by relying on…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
Fifth generation (5G) aims to connect massive devices with even higher reliability, lower latency and even faster transmission speed, which are vital for implementing the e-health systems. However, the current efforts on 5G e-health systems…
As we move from 5G to 6G, edge computing is one of the concepts that needs revisiting. Its core idea is still intriguing: instead of sending all data and tasks from an end user's device to the cloud, possibly covering thousands of…
Cloud virtual reality (VR) has emerged as a promising technology, offering users a highly immersive and easily accessible experience. However, the current 5G radio access network faces challenges in accommodating the bursty traffic…
To cope with the growing demand for wireless data and to extend service coverage, future 5G networks will increasingly rely on the use of low powered nodes to support massive connectivity in diverse set of applications and services [1]. To…
Owing to the large volume of sensed data from the enormous number of IoT devices in operation today, centralized machine learning algorithms operating on such data incur an unbearable training time, and thus cannot satisfy the requirements…
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…
The evolution of communication networks shows a clear shift of focus from just improving the communications aspects to enabling new important services, from Industry 4.0 to automated driving, virtual/augmented reality, Internet of Things…
New paradigm shifts and 6G technological revolution in vehicular services have emerged toward unmanned driving, automated transportation, and self-driving vehicles. As the technology for autonomous vehicles becomes mature, real challenges…
Recently, along with the rapid development of mobile communication technology, edge computing theory and techniques have been attracting more and more attentions from global researchers and engineers, which can significantly bridge the…
Over the last years, Unmanned Aerial Vehicles (UAVs) have seen significant advancements in sensor capabilities and computational abilities, allowing for efficient autonomous navigation and visual tracking applications. However, the demand…
Fueled by the availability of more data and computing power, recent breakthroughs in cloud-based machine learning (ML) have transformed every aspect of our lives from face recognition and medical diagnosis to natural language processing.…
Facing a vast amount of connections, huge performance demands, and the need for reliable connectivity, the sixth generation of communication networks (6G) is envisioned to implement disruptive technologies that jointly spur connectivity,…
In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to industrial procedures and robotics, cloud computing have been…