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

The growth in artificial intelligence (AI) technology has attracted substantial interests in latency-aware task offloading of mobile edge computing (MEC)-namely, minimizing service latency. Additionally, the use of MEC systems poses an…

User experience on mobile devices is constrained by limited battery capacity and processing power, but 6G technology advancements are diving rapidly into mobile technical evolution. Mobile edge computing (MEC) offers a solution, offloading…

To mitigate computational power gap between the network core and edges, mobile edge computing (MEC) is poised to play a fundamental role in future generations of wireless networks. In this letter, we consider a non-orthogonal multiple…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex…

In this paper, we investigate a mobile edge computing (MEC) architecture with the assistance of an unmanned aerial vehicle (UAV). The UAV acts as a computing server to help the user equipment (UEs) compute their tasks as well as a relay to…

In this work, we focused on constructing and evaluating levels of explanation(LOE) that address two basic aspect of HRI: 1. What information should be communicated to the user by the robot? 2. When should the robot communicate this…

Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…

Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In…

Next-generation cellular networks will play a key role in the evolution of different vertical industries. Low latency will be a major requirement in many related uses cases. This requirement is specially challenging in scenarios with high…

Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…

We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…

Code offloading is promising to accelerate mobile applications and save energy of mobile devices by shifting some computation to cloud. However, existing code offloading systems suffer from a long communication delay between mobile devices…

In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…

In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…

Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…

Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…

Edge computing is an emerging paradigm to enable low-latency applications, like mobile augmented reality, because it takes the computation on processing devices that are closer to the users. On the other hand, the need for highly scalable…

Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an…

Edge computing provides a cloud-like architecture where small-scale resources are distributed near the network edge, enabling applications on resource-constrained devices to offload latency-critical computations to these resources. While…