12 accepted papers
This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction paradigm with a structured memory system to decompose tasks into e
Ultrasound-guided therapeutic procedures rely heavily on operator skill, leading to variability and high training costs. The shortage of trained ultra-sonographers further exacerbates the issue, increasing workloads and associated health risks. Robotic technology has the potential to effectively tac
The docking mechanism is critical for unmanned surface vehicle (USV) applications, such as traction, dragging, charging, data transmission, building pontoons, etc. These applications are significant for observation, exploration, data acquisition, patrol, rescuing, etc., in aquatic environments. In t
Ensuring safety of unmanned surface vehicles (USVs) during nearshore field operations is challenging as they face unknown risks of collision with surface and underwater obstacles. To address this problem, we propose a bio-inspired collision risk-assessment method for ensuring safe USVs operation in
This letter proposes a novel projectile-based mechanism to realize unmanned surface vehicle (USV) charging at berths, which is a challenging task. The proposed mechanism involves two key parts: a projectile-based launcher mechanism, and a bowl-like magnetic charger socket. The proposed mechanism pro
Ensuring an adequate supply of energy is a challenge in the development of autonomous sailboats for long-range sailing capability, as the continuous high-frequency execution of control commands leads to high energy consumption. However, as the control of sailboat is much more complex than the other
Sailboats have a wide range of applications on account of their energy-saving, environmentally benign and low-noise characteristics. This has led to the increasing popularity of research in autonomous sailing robots, with concomitant attention paid to the development of methods that ensure their saf
This paper introduces an intelligent system which composes music following the users' instructions. Current auto-matic music generation models are lack of stability. Meanwhile, they cannot satisfy the preference of different people. To overcome these challenges, we train a Transformer-based neural n…
In this paper, a new capture system for UAV precision landing in a disturbed environment is proposed. Compared with the traditional visual guided landing methods, perching mechanism based methods, and tethered landing methods, the proposed system takes into account the stability during landing proce…
In the process of landing unmanned aerial vehicles (UAVs) on an unmanned surface vehicle (USV), a manipulator can be applied to help the UAV land safely and accurately. However, it is a challenge to control the manipulator on a disturbed USV due to joint velocity constraints and bandwidth limitation…
Self-assembly has attracted growing interests in modular robotics during past decades. Recent work accelerates the assembly process by parallelizing the docking actions among robots. However, these methods can only apply to ideal environments without obstacles. Otherwise, robots will get trapped dur…
Obstacle avoidance is crucial for autonomous surface vehicles (ASVs) in the sea because rescue is extremely difficult there. OceanVoy, a sailboat toward long range energy-saving voyage, has to overcome the dual challenges, i.e. from the environmental interference and its low mobility preventing from…