相关论文: UAVGENT: A Language-Guided Distributed Control Fra…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…

This study proposes a multi-agent language framework that enables continual strategy evolution without fine-tuning the language model's parameters. The core idea is to liberate the latent vectors of abstract concepts from traditional static…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

Implementing correct distributed systems is an error-prone task. Runtime Verification (RV) offers a lightweight formal method to improve reliability by monitoring system executions against correctness properties. However, applying RV in…

Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…

Deploying Large Language Models (LLMs) locally on mobile devices presents a significant challenge due to their extensive memory requirements. In this paper, we introduce LinguaLinked, a system for decentralized, distributed LLM inference on…

Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…

A novel framework for closed-loop control of turbulent flows is tested in an experimental mixing layer flow. This framework, called Machine Learning Control (MLC), provides a model-free method of searching for the best function, to be used…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

Unmanned Aerial Vehicles (UAVs) have emerged as versatile tools across various sectors, driven by their mobility and adaptability. This paper introduces SkyVLN, a novel framework integrating vision-and-language navigation (VLN) with…

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…

The deployment of autonomous drone swarms in disaster response missions necessitates the development of flexible, scalable, and robust coordination systems. Traditional fixed architectures struggle to cope with dynamic and unpredictable…

The booming air transportation industry inevitably burdens air traffic controllers' workload, causing unexpected human factor-related incidents. Current air traffic control systems fail to consider spoken instructions for traffic…

Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…

The increasing prevalence of Large Language Models (LMs) in critical applications highlights the need for controlled language generation strategies that are not only computationally efficient but that also enjoy performance guarantees. To…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…