相关论文: Enabling Remote Whole-Body Control with 5G Edge Co…

With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…

In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanned Aerial Vehicle (UAV) model, is examined. MPC requires more…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

This paper presents field-tested use cases from Search and Rescue (SAR) missions, highlighting the co-design of mobile robots and communication systems to support Edge-Cloud architectures based on 5G Standalone (SA). The main goal is to…

Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks…

Mobile Edge Computing (MEC) is an emerging paradigm that provides computing, storage, and networking resources within the edge of the mobile Radio Access Network (RAN). MEC servers are deployed on generic computing platform within the RAN…

With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…

In the edge computing paradigm, mobile devices offload the computational tasks to an edge server by routing the required data over the wireless network. The full potential of edge computing becomes realized only if a smart device selects…

Enabling secure and reliable high-bandwidth lowlatency connectivity between automated vehicles and external servers, intelligent infrastructure, and other road users is a central step in making fully automated driving possible. The…

The 5th-generation wireless networks (5G) technologies and mobile edge computing (MEC) provide great promises of enabling new capabilities for the industrial Internet of Things. However, the solutions enabled by the 5G ultra-reliable…

5G technology enhances industries with high-speed, reliable, low-latency communication, revolutionizing mobile broadband and supporting massive IoT connectivity. With the increasing complexity of applications on User Equipment (UE),…

Mobile edge computing (MEC) is considered a novel paradigm for computation-intensive and delay-sensitive tasks in fifth generation (5G) networks and beyond. However, its uncertainty, referred to as dynamic and randomness, from the mobile…

With the development of intelligent applications (e.g., self-driving, real-time emotion recognition, etc), there are higher requirements for the cloud intelligence. However, cloud intelligence depends on the multi-modal data collected by…

The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art…

In recent years, edge computing has served as a paradigm that enables many future technologies like AI, Robotics, IoT, and high-speed wireless sensor networks (like 5G) by connecting cloud computing facilities and services to the end users.…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

In this paper, the application of 5G communication technology in an industrial environment is discussed. It acts as an enabler for the separation of sensors/actors and resources, like memory and computational power. 5G offers…

This paper studies a federated edge learning system, in which an edge server coordinates a set of edge devices to train a shared machine learning model based on their locally distributed data samples. During the distributed training, we…