相关论文: UTTG_ A Universal Teleoperation Approach via Onlin…
Flexible manufacturing requires robot systems that can adapt to constantly changing tasks, objects, and environments. However, traditional robot programming is labor-intensive and inflexible, while existing learning-based assembly methods…
This paper studies an unmanned aerial vehicle (UAV)-enabled multicasting system, where a UAV is dispatched to disseminate a common file to a number of geographically distributed ground terminals (GTs). Our objective is to design the UAV…
In this paper, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to fly between two predetermined locations while maintaining ultra-reliable low-latency communications (URLLC) for command-and-control (C2) links with…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…
Recent advances in diffusion-based video generation have substantially improved visual fidelity and temporal coherence. However, most existing approaches remain task-specific and rely primarily on textual instructions, limiting their…
Task Assignment and Path Finding (TAPF) concerns computing collision-free motions for multiple robots while jointly selecting goal locations. In this paper, safety is enforced by requiring unit-capacity traversal between successive…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Unmanned aerial vehicles (UAVs) are emerging as key enablers for low-altitude wireless network (LAWN), particularly when terrestrial networks are unavailable. In such scenarios, the environmental topology is typically unknown; hence,…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Unmanned aerial vehicles (UAVs) are now beginning to be deployed for enhancing the network performance and coverage in wireless communication. However, due to the limitation of their on-board power and flight time, it is challenging to…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…