相关论文: Mobile Robot Control and Autonomy Through Collabor…
With the accelerating availability of multimodal surgical data and real-time computation, Surgical Digital Twins (SDTs) have emerged as virtual counterparts that mirror, predict, and inform decisions across pre-, intra-, and postoperative…
Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
Engineering regulatory compliance in complex Cyber-Physical Systems (CPS), such as smart warehouse logistics, is challenging due to the open and dynamic nature of these systems, scales, and unpredictable modes of human-robot interactions…
This paper presents a novel approach for computing resource management of edge servers in vehicular networks based on digital twins and artificial intelligence (AI). Specifically, we construct two-tier digital twins tailored for vehicular…
Synchronized dual-arm rearrangement is widely studied as a common scenario in industrial applications. It often faces scalability challenges due to the computational complexity of robotic arm rearrangement and the high-dimensional nature of…
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…
Autonomous navigation in underwater environments remains a major challenge due to the absence of GPS, degraded visibility, and the presence of submerged obstacles. This article investigates these issues through the case of the BlueROV2, an…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
The development of Digital Twins (DTs) represents a transformative advance for simulating and optimizing complex systems in a controlled digital space. Despite their potential, the challenge of constructing DTs that accurately replicate and…
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…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…