相关论文: OROS: Online Operation and Orchestration of Collab…
This paper presents pNav, a novel power-management system that significantly enhances the power/energy-efficiency of Autonomous Mobile Robots (AMRs) by jointly optimizing their physical/mechanical and cyber subsystems. By profiling AMRs'…
In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global…
Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…
An essential component for the Fifth Generation of Mobile Networks deployments is the 5G Core (5GC), which bridges the 5G Radio Access Network (RAN) to the rest of the Internet. Some open-source platforms for the 5GC have emerged and been…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Global food security is an issue that is fast becoming a critical matter in the world today. Global warming, climate change and a range of other impacts caused by humans, such as carbon emissions, sociopolitical and economical challenges…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Open Radio Access Network (O-RAN) along with artificial intelligence, machine learning, cloud and edge networking, and virtualization are important enablers for designing flexible and software-driven programmable wireless networks. In…
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only.…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Electricity consumption in mobile networks is increasing with the continued 5G expansion, rising data traffic, and more complex infrastructures. However, energy management is often handled independently by each mobile network operator…
AI infrastructure has transitioned from a software-centric paradigm to a system tightly bound by physical and environmental limits. Energy availability, cooling capacity, and network connectivity now impose hard operational boundaries that…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…
The diverse requirements of beyond 5G services increase design complexity and demand dynamic adjustments to the network parameters. This can be achieved with slicing and programmable network architectures such as the open radio access…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…