相关论文: REACT: Multi Robot Energy-Aware Orchestrator for I…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
Autonomous edge computing in robotics, smart cities, and autonomous vehicles relies on the seamless integration of sensing, processing, and actuation for real-time decision-making in dynamic environments. At its core is the…
The aim of this work is to develop a prototype of integrated detector system to monitor environmental hazard: appearance of flames, smoke, sparks or dangerous gases (flammable, toxic, radioactive). We built and successfully tested…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
Firefighting is a complex, yet low automated task. To mitigate ergonomic and safety related risks on the human operators, robots could be deployed in a collaborative approach. To allow human-robot teams in firefighting, important basics are…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
This work presents REFLEX: Robotic Explanations to FaiLures and Human EXpressions, a comprehensive multimodal dataset capturing human reactions to robot failures and subsequent explanations in collaborative settings. It aims to facilitate…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…
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,…
To achieve general-purpose utility, we argue that robots must evolve from passive executors into active Information Retrieval users. In strictly zero-shot settings where no prior demonstrations exist, robots face a critical information gap,…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
There has been a plethora of work towards improving robot perception and navigation, yet their application in hazardous environments, like during a fire or an earthquake, is still at a nascent stage. We hypothesize two key challenges here:…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…