相关论文: Orientation-Aware Planning for Parallel Task Execu…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Multi-Agent Task Assignment and Planning (MATP) has attracted growing attention but remains challenging in terms of scalability, spatial reasoning, and adaptability in obstacle-rich environments. To address these challenges, we propose OATH…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…
To support the running of human-centric metaverse applications on mobile devices, Unmanned Aerial Vehicle (UAV)-assisted Wireless Powered Mobile Edge Computing (WPMEC) is promising to compensate for limited computational capabilities and…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
Autonomous mobile robots are usually faced with challenging situations when driving in complex environments. Namely, they have to recognize the static and dynamic obstacles, plan the driving path and execute their motion. For addressing the…
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…