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Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or…
We describe a new, low-cost system designed to provide multi-sensor remote condition monitoring of modern scientific laboratories, as well as to allow users to perform actions from remote locations in case of detection of specified events.…
The topology of a wireless multi-hop network can be controlled by varying the transmission power at each node. In this paper, we give a detailed analysis of a cone-based distributed topology control algorithm. This algorithm, introduced in…
This paper proposes a family of finite-time controllers for the bilateral teleoperation of fully actuated nonlinear Euler-Lagrange systems. Based on the energy-shaping framework and under the standard assumption of passive interactions with…
We present a neuromorphic radar framework for real-time, low-power hand gesture recognition (HGR) using an event-driven architecture inspired by biological sensing. Our system comprises a 24 GHz Doppler radar front-end and a custom…
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive equipment and lack multi-modal sensory feedback, restricting…
Recent advancements in low-Earth-orbit (LEO) satellites aim to bring resilience, ubiquitous, and high-quality service to future Internet infrastructure. However, the soaring number of space assets, increasing dynamics of LEO satellites and…
This paper presents a Learning from Teleoperation (LfT) framework that integrates human expertise with robotic precision to enable robots to autonomously perform skills learned from human operators. The proposed framework addresses…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
In critical infrastructures like airports, much care has to be devoted in protecting radio communication networks from external electromagnetic interference. Protection of such mission-critical radio communication networks is usually…
Transmit power control (TPC) is a key mechanism for managing interference, energy utilization, and connectivity in wireless systems. In this paper, we propose a simple low-complexity TPC algorithm based on the deep unfolding of the…
Cooperative communications is a class of techniques which seek to improve reliability and throughput in wireless systems by pooling the resources of distributed nodes. While cooperation can occur at different network layers and time scales,…
Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication…
Wireless devices need to adapt their transmission power according to the fluctuating wireless channel in order to meet constraints of delay sensitive applications. In this paper, we consider delay sensitivity in the form of strict packet…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Each node in a wireless multi-hop network can adjust the power level at which it transmits and thus change the topology of the network to save energy by choosing the neighbors with which it directly communicates. Many previous algorithms…
We consider one-hop communication in wireless networks with random connections. In the random connection model, the channel powers between different nodes are drawn from a common distribution in an i.i.d. manner. An scheme achieving the…
The emergence of Fifth-Generation (5G) communication networks has brought forth unprecedented connectivity with ultra-low latency, high data rates, and pervasive coverage. However, meeting the increasing demands of applications for seamless…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
The growing demand for Internet of Things (IoT) networks has sparked interest in sustainable, zero-energy designs through Energy Harvesting (EH) to extend the lifespans of IoT sensors. Visible Light Communication (VLC) is particularly…