相关论文: Mobile Robot Control and Autonomy Through Collabor…

Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom. Yet, most current…

This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…

The paper presents a novel cloud-based digital twin learning platform for teaching and training concepts of cognitive robotics. Instead of forcing interested learners or students to install a new operating system and bulky, fragile software…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Effective monitoring of freight transportation is essential for advancing sustainable, low-carbon economies. Traditional methods relying on single-modal data and discrete simulations fall short in optimizing intermodal systems holistically.…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…

To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…

Spatial synchronization in roadside scenarios is essential for integrating data from multiple sensors at different locations. Current methods using cascading spatial transformation (CST) often lead to cumulative errors in large-scale…

Road inspection is crucial for maintaining road serviceability and ensuring traffic safety, as road defects gradually develop and compromise functionality. Traditional inspection methods, which rely on manual evaluations, are…

A Digital Twin is a virtual system that can fully describe a physical one. It constantly receives data from its counterpart's sensors, consults external sources, and obtains manual inputs from its stakeholders. The DT uses all this…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

Current autonomous building research primarily focuses on energy efficiency and automation. While traditional artificial intelligence has advanced autonomous building research, it often relies on predefined rules and struggles to adapt to…

This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…