4 papers
D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments
Yuan Zhou, Ruitong Lin, Shen Wang +5
Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task execution through parallel collaboration and complementary capabilities. Ho…
Dynamic Constraint Reconstruction Based Control Barrier Functions for Safety-Critical Control of High-Dimensional Manipulators
Bingsheng Zhang, Shen Wang, Qiang Wang +3
Control barrier functions (CBFs) provide formal safety guarantees for constrained nonlinear systems, but their effectiveness relies on accurate system dynamics. In high-dimensional…
Learning a System-Level Surrogate for Hydraulic Excavators: A Simulation-to-Real LSTM Approach
Shuai Wang, Shen Wang, Qiang Wang +4
Developing autonomous hydraulic excavators is constrained by limited access to physical machines and the high cost of real-world experimentation. This paper proposes a simulation-t…
HECTOR: Human-centric Hierarchical Coordination and Supervision of Robotic Fleets under Continual Temporal Tasks
Shen Wang, Yinhang Luo, Jie Li +1
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even i…