相关论文: Mobile Robot Control and Autonomy Through Collabor…
Resource-constrained mobile robots that lack the capability to be completely autonomous can rely on a human or AI supervisor acting at a remote site (e.g., control station or cloud) for their control. Such a supervised autonomy or…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
During the past decade, smart mobility and intelligent vehicles have attracted increasing attention, because they promise to create a highly efficient and safe transportation system in the future. Meanwhile, digital twin, as an emerging…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
Digital twins (DTs) have driven major advancements across various industrial domains over the past two decades. With the rapid advancements in autonomous driving and vehicle-to-everything (V2X) technologies, integrating DTs into vehicular…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…
Robotic systems have become integral to smart environments, enabling applications ranging from urban surveillance and automated agriculture to industrial automation. However, their effective operation in dynamic settings - such as smart…
For a mobile robot to be truly autonomous, it must solve the simultaneous localization and mapping (SLAM) problem. We develop a new metaheuristic algorithm called Simulated Tom Thumb (STT), based on the detailed adventure of the clever Tom…
As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an…
Multi-robot systems face challenges in reducing human interventions as they are often deployed in dangerous environments. It is therefore necessary to include a methodology to assess robot failure rates to reduce the requirement for costly…
The concept of a digital twin (DT) plays a pivotal role in the ongoing digital transformation and has achieved significant strides for various wireless applications in recent years. In particular, the field of autonomous vehicles is a…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Subsea exploration, inspection, and intervention operations heavily rely on remotely operated vehicles (ROVs). However, the inherent complexity of the underwater environment presents significant challenges to the operators of these…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
This paper introduces a novel strategy aimed at enhancing productivity and minimizing non-productive movements within container terminals, specifically focusing on container yards. It advocates for the implementation of a digital twin-based…
We present methods and applications for the development of digital twins (DT) for urban traffic management. While the majority of studies on the DT focus on its ``eyes," which is the emerging sensing and perception like object detection and…
Digital twin (DT) technology can replicate physical entities in cyberspace. A mobility DT digitalizes connected and autonomous vehicles (CAVs) and their surrounding traffic environment, allowing to monitor the maneuvering and distribution…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…