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

Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…

The computation of a cyber-physical system's reaction to a stimulus typically involves the execution of several tasks. The delay between stimulus and reaction thus depends on the interaction of these tasks and is subject to timing…

Next-generation wireless networks will provide users ubiquitous low-latency computing services using devices at the network edge, called mobile edge computing (MEC). The key operation of MEC, mobile computation offloading (MCO), is to…

This paper proposes a novel joint computation and communication cooperation approach in mobile edge computing (MEC) systems, which enables user cooperation in both computation and communication for improving the MEC performance. In…

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…

Being able to provide latency guarantees for orbital edge computing applications through Low Earth Orbit (LEO) satellite constellations is a major milestone for their integration into 5G and 6G networks. However, achieving this is…

In this paper we propose and quantitatively evaluate three performance optimization methods that exploit the concept of communication-compute-control co-design by introducing awareness of communication and compute characteristics into the…

Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous…

The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…

Time-distributed Optimization (TDO) is an approach for reducing the computational burden of Model Predictive Control (MPC). When using TDO, optimization iterations are distributed over time by maintaining a running solution estimate and…

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

This paper investigates the intelligent computing task-oriented computing offloading and semantic compression in mobile edge computing (MEC) systems. With the popularity of intelligent applications in various industries, terminals…

Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…

Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…

Mobile-edge computing (MEC) has recently emerged as a prominent technology to liberate mobile devices from computationally intensive workloads, by offloading them to the proximate MEC server. To make offloading effective, the radio and…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…

This paper investigates the use of a networked system ($e.g.$, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of communication and computation latency. Recent advances in edge…

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…

Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…