相关论文: A Versatile Neural Network Configuration Space Pla…

Modern software systems often have to cope with uncertain operation conditions, such as changing workloads or fluctuating interference in a wireless network. To ensure that these systems meet their goals these uncertainties have to be…

Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…

In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…

Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…

Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…

Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…

Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces, focusing on manipulation of deformable objects. We propose a Latent Space Roadmap (LSR) for task planning which is a…

We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations…

Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…

Robotic sensor network (RSN) is an emerging paradigm that harvests data from remote sensors adopting mobile robots. However, communication and control functionalities in RSNs are interdependent, for which existing approaches become…

Motion planning is the soul of robot decision making. Classical planning algorithms like graph search and reaction-based algorithms face challenges in cases of dense and dynamic obstacles. Deep learning algorithms generate suboptimal…

Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…

We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…

The huge research interest in cellular vehicle-to-everything (C-V2X) communications in recent days is attributed to their ability to schedule multiple access more efficiently as compared to its predecessor technology, i.e., dedicated…

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…

The challenge of optimal Routing and Spectrum Assignment (RSA) is significant in Elastic Optical Networks. Integrating adaptive modulation formats into the RSA problem - Routing, Modulation Level, and Spectrum Assignment - broadens…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…