相关论文: Air-Ground Collaboration for Language-Specified Mi…
In situations such as habitat construction, station inspection, or cooperative exploration, incorrect assumptions about the environment or task across the team could lead to mission failure. Thus it is important to resolve any ambiguity…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
Upon the arrival of emerging devices, including Extended Reality (XR) and Unmanned Aerial Vehicles (UAVs), the traditional communication framework is approaching Shannon's physical capacity limit and fails to guarantee the massive amount of…
Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents are equipped with communication systems that are essential for…
Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…
Artificial intelligence is transforming precision agriculture, offering farmers new tools to streamline their daily operations. While these technological advances promise increased efficiency, they often introduce additional complexity and…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Existing UAV vision-and-language navigation (VLN) benchmarks rarely provide realistic aerial scenes, natural process-level instructions, and sufficient scale simultaneously, making it difficult to systematically train and evaluate UAV VLN…
Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…
A mixed aerial and ground robot team, which includes both unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs), is widely used for disaster rescue, social security, precision agriculture, and military missions. However, team…
Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…