相关论文: OROS: Online Operation and Orchestration of Collab…
Space exploration and establishing human presence on other planets demand advanced technology and effective collaboration between robots and astronauts. Efficient space resource utilization is also vital for extraterrestrial settlements.…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However,…
The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
In recent years, the fifth-generation (5G) mobile network has been developed worldwide to remarkably improve network performance and spectral efficiency. Very recently, reconfigurable intelligent surfaces (RISs) technology has emerged as an…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
The application of small-factor, 5G-enabled Unmanned Aerial Vehicles (UAVs) has recently gained significant interest in various aerial and Industry 4.0 applications. However, ensuring reliable, high-throughput, and low-latency 5G…
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Radio Access Network (RAN) sharing, which often also includes spectrum sharing, is a strategic cooperative agreement among two or more mobile operators, where one operator may use another's RAN infrastructure to provide mobile services to…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…