相关论文: Statistical Characterization of Closed-Loop Latenc…

By offloading intensive computation tasks to the edge cloud located at the cellular base stations, mobile-edge computation offloading (MECO) has been regarded as a promising means to accomplish the ambitious millisecond-scale end-to-end…

We present a framework to analyse the latency budget in wireless systems with Mobile Edge Computing (MEC). Our focus is on teleoperation and telerobotics, as use cases that are representative of mission-critical uplink-intensive IoT systems…

Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce errors and increase performance under delay is to downscale…

In this paper, we consider the mobile edge offloading scenario consisting of one mobile device (MD) with multiple independent tasks and various remote edge devices. In order to save energy, the user's device can offload the tasks to…

Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…

This paper proposes a novel user cooperation approach in both computation and communication for mobile edge computing (MEC) systems to improve the energy efficiency for latency-constrained computation. We consider a basic three-node MEC…

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…

Humanoid teleoperation plays a vital role in demonstrating and collecting data for complex humanoid-scene interactions. However, current teleoperation systems face critical limitations: they decouple upper- and lower-body control to…

Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…

Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…

Based on the two decision variables, service location and base station selection, construct a computational model of the switching delay, communication delay, and queuing delay patterns of a mobile edge computing system in each time…

Driven by great demands on low-latency services of the edge devices (EDs), mobile edge computing (MEC) has been proposed to enable the computing capacities at the edge of the radio access network. However, conventional MEC servers suffer…

In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…

While mobile edge computing (MEC) alleviates the computation and power limitations of mobile devices, additional latency is incurred when offloading tasks to remote MEC servers. In this work, the power-delay tradeoff in the context of task…

In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…

Mobile edge computing (MEC) has been regarded as a promising approach to deal with explosive computation requirements by enabling cloud computing capabilities at the edge of networks. Existing models of MEC impose some strong assumptions on…

Mobile-edge computing (MEC) has emerged as a prominent technique to provide mobile services with high computation requirement, by migrating the computation-intensive tasks from the mobile devices to the nearby MEC servers. To reduce the…

This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…

When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…