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Triple Modular Redundancy (TMR) is one of the most common techniques in fault-tolerant systems, in which the output is determined by a majority voter. However, the design diversity of replicated modules and/or soft errors that are more…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
We investigate higher-rank transmissions for multi-connected Extended Reality (XR) devices enabled through tethering group (TGr), in which a nearby tethering User Equipment (UE) cooperates with an XR UE via a short-range tethering link…
Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…
Advances in artificial intelligence and human-computer interaction will likely lead to extended reality (XR) becoming pervasive. While XR can provide users with interactive, engaging, and immersive experiences, non-player characters are…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Real-time reinforcement learning (RL) introduces several challenges. First, policies are constrained to a fixed number of actions per second due to hardware limitations. Second, the environment may change while the network is still…
Dexterous telemanipulation is crucial in advancing human-robot systems, especially in tasks requiring precise and safe manipulation. However, it faces significant challenges due to the physical differences between human and robotic hands,…
Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom. Yet, most current…
The increasing complexity of Extended Reality (XR) applications demands substantial processing power and high bandwidth communications, often unavailable on lightweight devices. Remote rendering consists of offloading processing tasks to a…
SLAM is one of the biggest bottlenecks of XR devices, which have strict requirements for latency, power consumption, and user satisfaction. A solution that has been proposed and studied to meet the requirements is to offload SLAM to a…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to…