相关论文: Wireless Human-Machine Collaboration in Industry 5…
Low-altitude wireless networks (LAWN) require drones to follow specific trajectories controlled by ground base stations (GBSs). However, given complex low-altitude channel conditions and limited spectrum and power resources, sensing errors…
The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the…
In this paper, we study a wireless networked control system (WNCS) with $N \ge 2$ sub-systems sharing a common wireless channel. Each sub-system consists of a plant and a controller and the control message must be delivered from the…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
As autonomous systems become integral to various industries, effective strategies for fault handling are essential to ensure reliability and efficiency. Transfer of Control (ToC), a traditional approach for interrupting automated processes…
Feasibility of using unlicensed spectrum for ultra reliable low latency communications (URLLC) is still a question for beyond 5G wireless networks. Low latency access to the channel and efficiently sharing spectrum among the multiple users…
Many day-to-day activities involve people working collaboratively toward reaching a desired outcome. Previous research in motor control and neuroscience have proposed inter-personal motor synergy (IPMS) as a mechanism of collaboration…
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…
Humans are considered as integral components of Human-Robot Collaboration (HRC) systems, not only as object (e.g. in health care), but also as operators and service providers in manufacturing. Sophisticated and complex tasks are to be…
The paper presents the propagation analysis of ultrawideband Gaussian signal in an automated collaborative warehouse environment where human and robots communicate to ensure that mutual collisions do not occur. The warehouse racks are…
Advanced industrial applications for human-machine interaction such as augmented reality support for maintenance works or mobile control panels for operating production facility set high demands on underlying wireless connectivity solution.…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
While we have made significant algorithmic developments to enable autonomous systems to perform sophisticated tasks, it remains difficult for them to perform tasks effective and safely. Most existing approaches either fail to provide any…