相关论文: Enabling Remote Whole-Body Control with 5G Edge Co…
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Future Mobile Networks (MNs), 5G and beyond 5G, will require a paradigm shift from traditional resource allocation mechanisms as Base Stations (BSs) will be empowered with computation capabilities (i.e., offloading and computation is…
The deployment of artificial intelligence models at the edge is increasingly critical for autonomous robots operating in GPS-denied environments where local, resource-efficient reasoning is essential. This work demonstrates the feasibility…
The timely delivery of resource-intensive and latency-sensitive services (e.g., industrial automation, augmented reality) over distributed computing networks (e.g., mobile edge computing) is drawing increasing attention. Motivated by the…
As mobile edge computing (MEC) finds widespread use for relieving the computational burden of compute- and interaction-intensive applications on end user devices, understanding the resulting delay and cost performance is drawing significant…
Wider coverage and a better solution to a latency reduction in 5G necessitate its combination with multi-access edge computing (MEC) technology. Decentralized deep learning (DDL) such as federated learning and swarm learning as a promising…
5G represents a revolutionary shift with respect to previous generations given its design centered on network softwarization. Within such a change of paradigm, cloud-native solutions are widely regarded as the future of vertical application…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Edge computing is an emerging paradigm to enable low-latency applications, like mobile augmented reality, because it takes the computation on processing devices that are closer to the users. On the other hand, the need for highly scalable…
Legged robots with advanced manipulation capabilities have the potential to significantly improve household duties and urban maintenance. Despite considerable progress in developing robust locomotion and precise manipulation methods,…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
There is an increasing interest in extending traditional cloud-native technologies, such as Kubernetes, outside the data center to build a continuum towards the edge and between. However, traditional resource orchestration algorithms do not…
Artificial intelligence approaches for base-band processing for radio receivers have demonstrated significant performance gains. Most of the proposed methods are characterized by high compute and memory requirements, hindering their…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
In a level-5 autonomous driving system, the autonomous driving vehicles (AVs) are expected to sense the surroundings via analyzing a large amount of data captured by a variety of onboard sensors in near-real-time. As a result, enormous…