相关论文: A Versatile Neural Network Configuration Space Pla…
Parameter-efficient transfer learning (PETL) aims to reduce the scales of pretrained models for multiple downstream tasks. However, as the models keep scaling up, the memory footprint of existing PETL methods is not significantly reduced…
Recent years have seen the emergence of non-cooperative objects in space, like failed satellites and space junk. These objects are usually operated or collected by free-float dual-arm space manipulators. Thanks to eliminating the…
Roll-to-roll manufacturing requires precise tension and velocity control to ensure product quality, yet controller commissioning and adaptation remain time-intensive processes dependent on expert knowledge. This paper presents an…
Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…
Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…
Modular self-reconfigurable satellites refer to satellite clusters composed of individual modular units capable of altering their configurations. The configuration changes enable the execution of diverse tasks and mission objectives.…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Simulation-to-decision learning enables safe policy training in digital environments without risking real-world deployment, and has become essential in mission-critical domains such as supply chains and industrial systems. However,…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
Movable Antenna (MA) technology is emerging as a promising advancement with the potential to significantly enhance the performance of future wireless communication and sensing systems. In this paper, we address two-dimensional (2D)…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…