相关论文: A Prompt-driven Task Planning Method for Multi-dro…

In recent years, large language models (LLMs) have rapidly proliferated and have been utilized in various tasks, including research in dialogue systems. We aimed to construct a system that not only leverages the flexible conversational…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…

This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, particularly large language models (LLMs) and vision-language…

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…

In this project, our goal is to determine how to leverage the world-knowledge of pretrained large language models for efficient and robust learning in multiagent decision making. We examine this in a taxi routing and assignment problem…

Accurate task planning is critical for controlling autonomous systems, such as robots, drones, and self-driving vehicles. Behavior Trees (BTs) are considered one of the most prominent control-policy-defining frameworks in task planning, due…

The rise of large language models (LLMs) has highlighted the importance of prompt engineering as a crucial technique for optimizing model outputs. While experimentation with various prompting methods, such as Few-shot, Chain-of-Thought, and…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base that enables: 1. its efficient population from natural language…

Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…

The use of semi-autonomous Unmanned Aerial Vehicles (UAVs or drones) to support emergency response scenarios, such as fire surveillance and search-and-rescue, has the potential for huge societal benefits. Onboard sensors and artificial…

Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…

With the advent of Large Language Models (LLMs), generating rule-based data for real-world applications has become more accessible. Due to the inherent ambiguity of natural language and the complexity of rule sets, especially in long…

Prompt tuning has become a new paradigm for model tuning and it has demonstrated success in natural language pretraining and even vision pretraining. In this work, we explore the transfer of prompt tuning to multimodal pretraining, with a…

Autonomous aerial monitoring is an important task aimed at gathering information from areas that may not be easily accessible by humans. At the same time, this task often requires recognizing anomalies from a significant distance or not…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…