相关论文: RoboMatch: A Unified Mobile-Manipulation Teleopera…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

Efficient routing is one of the key challenges for next generation vehicular networks in order to provide fast and reliable communication in a smart city context. Various routing protocols have been proposed for determining optimal routing…

Inspection of aquaculture net pens is essential for maintaining the structural integrity, biosecurity, and operational efficiency of fish farming systems. Traditional inspection approaches rely on pre-programmed missions or manual control,…

We consider the problem of intelligent and efficient task allocation mechanism in large-scale mobile edge computing (MEC), which can reduce delay and energy consumption in a parallel and distributed optimization. In this paper, we study the…

Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchange between agents to evaluate action…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

Device activity detection in the emerging cell-free massive multiple-input multiple-output (MIMO) systems has been recognized as a crucial task in machine-type communications, in which multiple access points (APs) jointly identify the…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

With the growing complexity and dynamics of the mobile communication networks, accurately predicting key system parameters, such as channel state information (CSI), user location, and network traffic, has become essential for a wide range…

Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Autonomous Earth Observation (EO) agents are transitioning from passive perception to complex, multi-step task execution. However, current architectures that integrate planning and execution within a single model often struggle with…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…

The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…

This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our…