相关论文: From Edge to Edge: A Flow-Inspired Scheduling Plan…

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between robots is essential for many multi-robot systems. In this…

This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

After the advent of the Internet of Things and 5G networks, edge computing became the center of attraction. The tasks demanding high computation are generally offloaded to the cloud since the edge is resource-limited. The Edge Cloud is a…

To circumvent persistent connectivity to the cloud infrastructure, the current emphasis on computing at network edge devices in the multi-robot domain is a promising enabler for delay-sensitive jobs, yet its adoption is rife with…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

As human-robot collaboration increases in the workforce, it becomes essential for human-robot teams to coordinate efficiently and intuitively. Traditional approaches for human-robot scheduling either utilize exact methods that are…

Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Edge computing has evolved to be a promising avenue to enhance the system computing capability by offloading processing tasks from the cloud to edge devices. In this paper, we propose a multi-layer edge computing framework called EdgeFlow.…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…