相关论文: Robofleet: Open Source Communication and Managemen…
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
Exploration of unknown scenes before human entry is essential for safety and efficiency in numerous scenarios, e.g., subterranean exploration, reconnaissance, search and rescue missions. Fleets of autonomous robots are particularly suitable…
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Federated Learning (FL) is a promising paradigm that offers significant advancements in privacy-preserving, decentralized machine learning by enabling collaborative training of models across distributed devices without centralizing data.…
This paper envisions a scenario that hundreds of heterogeneous robots form a robotcenter which can be shared by multiple users and used like a single powerful robot to perform complex tasks. However, current multi-robot systems are either…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
Frontier exploration and reinforcement learning have historically been used to solve the problem of enabling many mobile robots to autonomously and cooperatively explore complex surroundings. These methods need to keep an internal global…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety…
Intelligent Transportation System (ITS) is a vision which offers safe, secure and smart travel experience to drivers. This futuristic plan aims to enable vehicles, roadside transportation infrastructures, pedestrian smart-phones and other…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
The advent of autonomous vehicle technologies has significantly impacted various sectors, including motorsport, where Formula Student and Formula: Society of Automotive Engineers introduced autonomous racing classes. These offer new…
The underlying framework for controlling autonomous robots and complex automation applications are Operating Systems (OS) capable of scheduling perception-and-control tasks, as well as providing real-time data communication to other robotic…
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed…