相关论文: Practice Makes Perfect: A Study of Digital Twin Te…
Digital twins have become popular for their ability to monitor and optimize a process or a machine, ideally through its complete life cycle using simulations and sensor data. In this paper, we focus on the challenge of accurate and…
Digital twins (DTs), virtual simulated replicas of physical scenes, are transforming various industries. However, their potential in radio frequency (RF) sensing applications has been limited by the unidirectional nature of conventional RF…
Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
Autonomous system navigation is a well-researched and evolving field. Recent advancements in improving robot navigation have sparked increased interest among researchers and practitioners, especially in the use of sensing data. However,…
This paper presents a Digital Twin (DT) of a 6G communications system testbed that integrates two robotic manipulators with a high-precision optical infrared tracking system in Unreal Engine 5. Practical details of the setup and…
Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future…
Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by decomposing tasks and generating high-level…
Autonomous navigation in underwater environments remains a major challenge due to the absence of GPS, degraded visibility, and the presence of submerged obstacles. This article investigates these issues through the case of the BlueROV2, an…
Metaverse and Digital Twin (DT) have attracted much academic and industrial attraction to approach the future digital world. This paper introduces the advantages of deep reinforcement learning (DRL) in assisting Metaverse system-based…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
Digital network twin is a promising technology that replicates real-world networks in real-time and assists with the design, operation, and management of next-generation networks. However, existing approaches (e.g., simulator-based and…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
This article discusses the use of digital twins for products made of polymer composite materials. The design of new products from polymer composite materials, both within the framework of the traditional and new direction of cloud…
In this paper, we study a digital twin (DT)-empowered integrated sensing, communication, and computation network. Specifically, the users perform radar sensing and computation offloading on the same spectrum, while unmanned aerial vehicles…
Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…