相关论文: Scalable Low-Density Distributed Manipulation Usin…
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
This letter presents a fast distributed algorithm for aggregating a large number of households with mixed-integer variables and intricate couplings between devices. The proposed fast distributed gradient algorithm is applied to the double…
Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…
Large-scale shape-changing interfaces have great potential, but creating such systems requires substantial time, cost, space, and efforts, which hinders the research community to explore interactions beyond the scale of human hands. We…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Robotic systems driven by conventional motors often suffer from challenges such as large mass, complex control algorithms, and the need for additional braking mechanisms, which limit their applications in lightweight and compact robotic…
Using sensors as a means to achieve self-awareness and artificial intelligence for decision-making, may be a way to make complex systems self-adaptive, autonomous and resilient. Investigating the combination of distributed artificial…
This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…
Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…
The inherent non-convexity of poriferous surfaces typically entraps agents in local minima and complicates workload distribution. To resolve this, we propose a distributed diffeomorphic coverage control framework for the multi-agent system…
This paper proposes a novel relay-aided intelligent reconfigurable surface (IRS) architecture for future wireless communication systems. The proposed architecture, which consists of two side-by-side intelligent surfaces connected via a…
A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…
We describe a structured system for distributed mechanism design. It consists of a sequence of layers. The lower layers deal with the operations relevant for distributed computing only, while the upper layers are concerned only with…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
Two-dimensional materials can be combined by placing individual layers on top of each other, so that they are bound only by their van der Waals interaction. The sequence of layers can be chosen arbitrarily, enabling an essentially…
Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…
Object manipulation, which focuses on learning to perform tasks on similar parts across different types of objects, can be divided into an approaching stage and a manipulation stage. However, previous works often ignore this characteristic…
The common layer-by-layer deposition of regular, 3-axis 3D printing simplifies both the fabrication process and the 3D printer's mechanical design. However, the resulting 3D printed objects have some unfavourable characteristics including…