相关论文: Reconstructing Robot Operations via Radio-Frequenc…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Radio frequency fingerprint identification (RFFI) is a promising device authentication approach by exploiting the unique hardware impairments as device identifiers. Because the hardware features are extracted from the received waveform,…
Physical layer authentication relies on detecting unique imperfections in signals transmitted by radio devices to isolate their fingerprint. Recently, deep learning-based authenticators have increasingly been proposed to classify devices…
Ultra-wideband (UWB) is a state-of-the-art technology designed for applications requiring centimeter-level localization. Its widespread adoption by smartphone manufacturer naturally raises security and privacy concerns. Successfully…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Federated Learning (FL) enables collaborative model training across distributed devices while safeguarding data and user privacy. However, FL remains susceptible to privacy threats that can compromise data via direct means. That said,…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
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…
Deep neural networks are vulnerable to adversarial examples, which dramatically alter model output using small input changes. We propose Neural Fingerprinting, a simple, yet effective method to detect adversarial examples by verifying…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe…
Modern processors dynamically control their operating frequency to optimize resource utilization, maximize energy savings, and conform to system-defined constraints. If, during the execution of a software workload, the running average of…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
Radio Frequency Fingerprinting (RFF) techniques promise to authenticate wireless devices at the physical layer based on inherent hardware imperfections introduced during manufacturing. Such RF transmitter imperfections are reflected into…
Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…
Radio frequency fingerprint identification (RFFI) is an emerging device authentication technique, which exploits the hardware characteristics of the RF front-end as device identifiers. RFFI is implemented in the wireless receiver and acts…
In this paper, we consider remote reconstruction over wireless networks when simultaneous accuracy at the legitimate receiver and confidentiality against eavesdropping are required. These two objectives are often treated separately, even…
Autonomous robotic systems have gained a lot of attention, in recent years. However, accurate prediction of robot motion in indoor environments with limited visibility is challenging. While vision-based and light detection and ranging…