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Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving these goals is hindered by the deleterious effects of latency…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
This study evaluates the performance and usability of Mixed Reality (MR), Virtual Reality (VR), and camera stream interfaces for remote error resolution tasks, such as correcting warehouse packaging errors. Specifically, we consider a…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Imitation learning relies on high-quality demonstrations, and teleoperation is a primary way to collect them, making teleoperation interface choice crucial for the data. Prior work mainly focused on static tasks, i.e., discrete, segmented…
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 paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
Extended Reality (XR) enables a plethora of novel interactive shared experiences. Ideally, users are allowed to roam around freely, while audiovisual content is delivered wirelessly to their Head-Mounted Displays (HMDs). Therefore, truly…
Networked robotic systems balance compute, power, and latency constraints in applications such as self-driving vehicles, drone swarms, and teleoperated surgery. A core problem in this domain is deciding when to offload a computationally…
eXtended reality (XR) technologies such as virtual reality and 360{\deg} stereoscopic streaming enable the concept of the Metaverse, an immersive virtual space for collaboration and interaction. To ensure high fidelity display of immersive…
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…
We present a Reinforcement Learning (RL) approach to the problem of controlling the Discontinuous Reception (DRX) policy from a Base Transceiver Station (BTS) in a cellular network. We do so by means of optimally timing the transmission of…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
In recent years, advances in immersive multimedia technologies, such as extended reality (XR) technologies, have led to more realistic and user-friendly devices. However, these devices are often bulky and uncomfortable, still requiring…
Inspection and maintenance of offshore platforms are associated with high costs, primarily due to the significant personnel requirements and challenging operational conditions. This paper first presents a classification of Power to X…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Current service robots suffer from limited natural language communication abilities, heavy reliance on predefined commands, ongoing human intervention, and, most notably, a lack of proactive collaboration awareness in human-populated…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…