相关论文: On Improved Commutation for Moving-Magnet Planar A…

Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…

This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…

Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…

This study investigates a downlink rate-splitting multiple access (RSMA) scenario in which multiple base stations (BSs), employing a coordinated multi-point (CoMP) transmission scheme, serve users equipped with movable antenna (MA)…

Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…

In this paper, we model the minimum achievable throughput within a transmission block of restricted duration and aim to maximize it in movable antenna (MA)-enabled multiuser downlink communications. Particularly, we account for the antenna…

This article investigates the integration of movable antennas (MAs) into multicast communication systems. By discretizing the motion of the MAs, a novel MA-assisted multicast transmission architecture is formulated. An alternating…

This letter investigates the weighted sum rate maximization problem in movable antenna (MA)-enhanced systems. To reduce the computational complexity, we transform it into a more tractable weighted minimum mean square error (WMMSE) problem…

Movable antenna (MA) technology, which can reconfigure wireless channels by flexibly moving antenna positions in a specified region, has great potential for improving communication performance. In this paper, we consider a new setup of…

Electrification, a key strategy in combating climate change, is transforming industries, and off-highway machines (OHM) will be next to transition from combustion engines and hydraulic actuation to sustainable fully electrified machines.…

We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…

This paper investigates the movable antenna (MA)- assisted downlink non-orthogonal multiple access (NOMA) network to maximize system throughput. In the considered scenario, both the base station (BS) and users are equipped with MA, and a…

The field of mobile agent (MA) technology has been intensively researched during the past few years, resulting in the phenomenal proliferation of available MA platforms, all sharing several common design characteristics. Research projects…

Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral…

Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…

The recently emerged movable antenna (MA) shows great promise in leveraging spatial degrees of freedom to enhance the performance of wireless systems. However, resource allocation in MA-aided systems faces challenges due to the nonconvex…

The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…

Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…

Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…