5 papers
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
Gregorio Marchesini, Nicola De Carli, Sihyun Cho +5
We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts…
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
Inkyu Jang, Gregorio Marchesini, Nicola De Carli +15
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation…
Modeling and Validation of Quality of Control for Edge-Offloaded Collaborative Navigation
Neelabhro Roy, Mikael Hammarling, Victor Nan Fernandez-Ayala +4
Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliability variations, which can degrade navigation, tracking, and collision…
Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent Systems: A Distributed Optimization Approach (extended version)
Farhad Mehdifar, Mani H. Dhullipalla, Charalampos P. Bechlioulis +1
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as ineq…
Quality of Control based Resource Dimensioning for Collaborative Edge Robotics
Neelabhro Roy, Mani H. Dhullipalla, Gourav Prateek Sharma +2
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based…