8 accepted papers
This paper investigates the resilient multi-robot efficient search problem (R-MuRES), which aims at coordinating multiple robots for the minimal time detection of a 'non-adversarial' moving target. R-MuRES faces challenges like robot malfunctions and withdrawals during task execution, leading to a v…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these networks stems from the unknown edge traversability, which is
Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud techniques often limit themselves to keyframes predictions, redu
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of such simulated digital double synchronized with a real robo…
Motivated by the success of encoding multi-scale contextual information for image analysis, we propose our PointAtrousGraph (PAG) - a deep permutation-invariant hierarchical encoder-decoder for efficiently exploiting multi-scale edge features in point clouds. Our PAG is constructed by several novel…
This letter proposed a control framework to tackle the hybrid locomotion problem of wheeled-legged robots. It comes as a hierarchical structure with three layers: hybrid foot placement planning, Centre of Mass (CoM) trajectory optimization and whole-body control. General mathematical representation
In this letter, we propose a permutation-invariant architecture-PointAtrousNet (PAN), which focuses on exploiting multi-scale local geometric details for point cloud analysis. Inspired by atrous convolution in image domains, we propose the point atrous convolution (PAC) operation. Our PAC can effect
Frogs are capable of multiple locomotion modes including jumping and swimming, which enables them to adapt to various environmental conditions. This paper demonstrates a frog-inspired robot, which can mimic the swimming motion of a natural frog. The robot is developed based on dielectric elastomer a…