6 accepted papers
Autonomous robot policies are commonly trained using demonstration data acquired via robotic teleoperation, a process which can be time-intensive and physically demanding for human operators. Bilateral control can speed up robotic teleoperation by allowing the operator to feel the forces experienced
For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the payload's mass and inertial properties. In this paper, we describ
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot knows its pose and the desired formation moments, and simultane
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type parallel manipulato
The availability of inexpensive 3D-printed quadrupedal robots motivates the development of learning-based methods compatible with low-cost embedded processors and position-controlled hobby servos. In this work, we show that a linear policy is sufficient to modulate an open-loop trajectory generator,…
Algorithms for identifying Voronoi neighbors and constructing Voronoi regions are useful in many distributed robotics applications. Existing methods that perform these tasks using only the distances between robots assign coordinates to each potential neighbor before applying another algorithm to fin