相关论文: XR-DT: Extended Reality-Enhanced Digital Twin for …
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…
We present methods and applications for the development of digital twins (DT) for urban traffic management. While the majority of studies on the DT focus on its ``eyes," which is the emerging sensing and perception like object detection and…
This perspective reframes human-robot interaction (HRI) through extended reality (XR), arguing that virtual robots powered by large foundation models (FMs) can serve as cognitively grounded, empathic agents. Unlike physical robots,…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. In…
While measures, such as traffic calming and advance driver assistance systems, can improve safety for Vulnerable Road Users (VRUs), their effectiveness ultimately relies on the responsible behavior of drivers and pedestrians who must adhere…
As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an…
Transportation Cyber-Physical Systems (T-CPS) enhance safety and mobility by integrating cyber and physical transportation systems. A key component of T-CPS is the Digital Twin (DT), a virtual representation that enables simulation,…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
We introduce a novel digital twin framework for predictive maintenance of long-term physical systems. Using monitoring tire health as an application, we show how the digital twin framework can be used to enhance automotive safety and…
Vehicle-road collaboration is a promising approach for enhancing the safety and efficiency of autonomous driving by extending the intelligence of onboard systems to smart roadside infrastructures. The introduction of digital twins (DTs),…
Digital twin (DT), refers to a promising technique to digitally and accurately represent actual physical entities. One typical advantage of DT is that it can be used to not only virtually replicate a system's detailed operations but also…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…
Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…
Connected and automated vehicles (CAVs) are supposed to share the road with human-driven vehicles (HDVs) in a foreseeable future. Therefore, considering the mixed traffic environment is more pragmatic, as the well-planned operation of CAVs…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Digital twin (DT) technologies have emerged as a solution for real-time data-driven modeling of cyber physical systems (CPS) using the vast amount of data available by Internet of Things (IoT) networks. In this position paper, we elucidate…
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of physical systems (PT) and assets, known as digital twins, can…