5 accepted papers
Control barrier functions (CBFs) have proven to be effective for obstacle avoidance in robot teleoperation systems. However, for classical CBF, model uncertainties and external disturbances can significantly degrade the robustness of safety control. Moreover, the fixed safety boundary lacks adaptabi…
High-order control barrier functions (HOCBFs) that can achieve strict safety guarantees are widely used in robot safety control. However, robot obstacle avoidance in narrow environments with curved surfaces, as represented by aircraft blade detection, is still a challenge. Considering the narrow spa…
Large Language Models (LLMs) may suffer from hallucinations in real-world applications due to the lack of relevant knowledge. In contrast, knowledge graphs encompass extensive, multi-relational structures that store a vast array of symbolic facts. Consequently, integrating LLMs with knowledge graphs…
Knowledge graph-based retrieval-augmented generation seeks to mitigate hallucinations in Large Language Models (LLMs) caused by insufficient or outdated knowledge. However, existing methods often fail to fully exploit the prior knowledge embedded in knowledge graphs (KGs), particularly their structu…
For direct teleoperation tasks, the follower robot accomplishes tasks by strictly executing the inputs from the operator. However, the operator's physiological tremor seriously reduces the smoothness of the trajectory, especially in tasks relying on operator’s experience such as gluing, while the ra