8 papers
Collaborative Planning for UAV-UGV Teams under Operational Constraints via Masked Error-bounded Neuro-Symbolic Diffusion
Zihao Deng, Qianhuang Li, Maggie Wigness +3
Collaborative planning under operational constraints is essential for heterogeneous robot teams in large-scale missions. Unmanned Aerial Vehicles (UAVs) provide rapid area coverage…
Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception
Qihang Li, Jo-Hao Huang, Jiewen Liu +3
Relative pose estimation is a fundamental capability for collaborative perception and coordination in multi-robot systems. However, robots encountering each other in real-world env…
Collaborative Planning with Concurrent Synchronization for Operationally Constrained UAV-UGV Teams
Zihao Deng, Qianhuang Li, Peng Gao +4
Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicle…
Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
Zihao Deng, Peng Gao, Williard Joshua Jose +5
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations…
Bandwidth-Adaptive Spatiotemporal Correspondence Identification for Collaborative Perception
Peng Gao, Williard Joshua Jose, Hao Zhang
Correspondence identification (CoID) is an essential capability in multi-robot collaborative perception, which enables a group of robots to consistently refer to the same objects w…
Bilevel Learning for Dual-Quadruped Collaborative Transportation under Kinematic and Anisotropic Velocity Constraints
Williard Joshua Jose, Hao Zhang
Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payl…
Coordinated Multi-Robot Navigation with Formation Adaptation
Zihao Deng, Peng Gao, Williard Joshua Jose +4
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as w…
Compositional Zero-Shot Learning for Attribute-Based Object Reference in Human-Robot Interaction
Peng Gao, Ahmed Jaafar, Brian Reily +2
Language-enabled robots have been widely studied over the past years to enable natural human-robot interaction and teaming in various real-world applications. Language-enabled robo…