相关论文: Underwater Multi-Robot Simulation and Motion Plann…
Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study.…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Multimodal large language models (MLLMs) have shown remarkable capabilities in cross-modal understanding and reasoning, offering new opportunities for intelligent assistive systems, yet existing systems still struggle with risk-aware…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Quadruped robots have the distinct ability to adapt their body and step height to navigate through cluttered environments. Nonetheless, for these robots to utilize their full potential in real-world scenarios, they require awareness of…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
Robots are becoming an essential part of many operations including marine exploration or environmental monitoring. However, the underwater environment presents many challenges, including high pressure, limited visibility, and harsh…
We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex environments, including doorways, hallways, intersections, and…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
Existing LLM-enabled multi-agent frameworks are predominantly limited to digital or simulated environments and confined to narrowly focused knowledge domain, constraining their applicability to complex engineering tasks that require the…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…
This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in…