arXiv subjects

Meng Guo

Publications and source records attributed to Meng Guo.

At least 55 records · Page 3Linked to original sources

arXiv2025

Probing Globular Cluster with MeerKAT and FAST: A Pulsar Polarization Census

Only one globular cluster (GC), 47 Tuc, has been found to contain intracluster medium, with an electron density 100 times higher than that of the ISM in its vicinity. The characteristics of this intracluster medium are closely related to GC evolution and the compact objects within. However, significant knowledge gaps remain regarding the ionized gas content of GCs, particularly in Galactic halo clusters. We carried out a polarization census of GC pulsars using MeerKAT and FAST. This first combined effort of observations from these two major radio telescopes resulted in high signal-to-noise ratio, full polarization pulse profiles for 43 pulsars in 8 GCs, doubling the number of rotation measures (RMs) known in these clusters. The accuracy of dispersion measures (DMs) was improved by a factor of 8 compared to previous publications. No intracluster medium was found, and at least two halo GCs showed more stringent upper limits on electron density than that detected in 47 Tuc. The surprising barrenness of GCs suggests effective gas removal mechanisms, such as strong winds from millisecond pulsars and/or ionizing radiation from post-AGB stars and young white dwarfs.

astro-ph.HE↗

arXiv2024

Hybrid and Oriented Harmonic Potentials for Safe Task Execution in Unknown Environment

Harmonic potentials provide globally convergent potential fields that are provably free of local minima. Due to its analytical format, it is particularly suitable for generating safe and reliable robot navigation policies. However, for complex environments that consist of a large number of overlapping non-sphere obstacles, the computation of associated transformation functions can be tedious. This becomes more apparent when: (i) the workspace is initially unknown and the underlying potential fields are updated constantly as the robot explores it; (ii) the high-level mission consists of sequential navigation tasks among numerous regions, requiring the robot to switch between different potentials. Thus, this work proposes an efficient and automated scheme to construct harmonic potentials incrementally online as guided by the task automaton. A novel two-layer harmonic tree (HT) structure is introduced that facilitates the hybrid combination of oriented search algorithms for task planning and harmonic-based navigation controllers for non-holonomic robots. Both layers are adapted efficiently and jointly during online execution to reflect the actual feasibility and cost of navigation within the updated workspace. Global safety and convergence are ensured both for the high-level task plan and the low-level robot trajectory. Known issues such as oscillation or long-detours for purely potential-based methods and sharp-turns or high computation complexity for purely search-based methods are prevented. Extensive numerical simulation and hardware experiments are conducted against several strong baselines.

cs.RO↗

arXiv2024

Power operations preserve Thom classes in twisted equivariant Real K-theory

We construct power operations for twisted KR-theory of topological stacks. Standard algebraic properties of Clifford algebras imply that these power operations preserve universal Thom classes. As a consequence, we show that the twisted Atiyah-Bott-Shapiro orientation commutes with power operations.

math.AT↗

arXiv2024

iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce Communication

Exploration of unknown scenes before human entry is essential for safety and efficiency in numerous scenarios, e.g., subterranean exploration, reconnaissance, search and rescue missions. Fleets of autonomous robots are particularly suitable for this task, via concurrent exploration, multi-sensory perception and autonomous navigation. Communication however among the robots can be severely restricted to only close-range exchange via ad-hoc networks. Although some recent works have addressed the problem of collaborative exploration under restricted communication, the crucial role of the human operator has been mostly neglected. Indeed, the operator may: (i) require timely update regarding the exploration progress and fleet status; (ii) prioritize certain regions; and (iii) dynamically move within the explored area; To facilitate these requests, this work proposes an interactive human-oriented online coordination framework for collaborative exploration and supervision under scarce communication (iHERO). The robots switch smoothly and optimally among fast exploration, intermittent exchange of map and sensory data, and return to the operator for status update. It is ensured that these requests are fulfilled online interactively with a pre-specified latency. Extensive large-scale human-in-the-loop simulations and hardware experiments are performed over numerous challenging scenes, which signify its performance such as explored area and efficiency, and validate its potential applicability to real-world scenarios. The videos are available on https://zl-tian.github.io/iHERO/.

cs.RO↗

arXiv2024

Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it can also be beneficial for low-cost mobile robots that are not equipped with a manipulator. This work tackles the general problem of controlling a team of mobile robots to push collaboratively polytopic objects within complex obstacle-cluttered environments. It incorporates several characteristic challenges for contact-rich tasks such as the hybrid switching among different contact modes and under-actuation due to constrained contact forces. The proposed method is based on hybrid optimization over a sequence of possible modes and the associated pushing forces, where (i) a set of sufficient modes is generated with a multi-directional feasibility estimation, based on quasi-static analyses for general objects and any number of robots; (ii) a hierarchical hybrid search algorithm is designed to iteratively decompose the navigation path via arc segments and select the optimal parameterized mode; and (iii) a nonlinear model predictive controller is proposed to track the desired pushing velocities adaptively online for each robot. The proposed framework is complete under mild assumptions. Its efficiency and effectiveness are validated in high-fidelity simulations and hardware experiments. Robustness to motion and actuation uncertainties is also demonstrated.

cs.RO↗

arXiv2024

Deadlock Resolution and Recursive Feasibility in MPC-based Multi-robot Trajectory Generation

Online collision-free trajectory generation within a shared workspace is fundamental for most multi-robot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility of underlying optimization. Furthermore, when applied in a distributed manner without a central coordinator, deadlocks often occur where several robots block each other indefinitely. Whereas heuristic methods such as introducing random perturbations exist, no profound analyses are given to validate these measures. Towards this end, we propose a systematic method called infinite-horizon model predictive control with deadlock resolution. The MPC is formulated as a convex optimization over the proposed modified buffered Voronoi with warning band. Based on this formulation, the condition of deadlocks is formally analyzed and proven to be analogous to a force equilibrium. A detection-resolution scheme is proposed, which can effectively detect deadlocks online before they even happen. Once detected, it utilizes an adaptive resolution scheme to resolve deadlocks, under which no stable deadlocks can exist under minor conditions. In addition, the proposed planning algorithm ensures recursive feasibility of the underlying optimization at each time step under both input and model constraints, is concurrent for all robots and requires only local communication. Comprehensive simulation and experiment studies are conducted over large-scale multi-robot systems. Significant improvements on success rate are reported, in comparison with other state-of-the-art methods and especially in crowded and high-speed scenarios.

cs.RO↗

arXiv2024

Fast and Adaptive Multi-agent Planning under Collaborative Temporal Logic Tasks via Poset Products

Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and performance. Moreover, when the collaborative tasks contain both spatial and temporal requirements, e.g., as Linear Temporal Logic (LTL) formulas, formal methods provide a verifiable framework for task planning. However, since the planning complexity grows exponentially with the number of agents and the length of the task formula, existing studies are mostly limited to small artificial cases. To address this issue, a new planning paradigm is proposed in this work for system-wide temporal task formulas that are released online and continually. It avoids two common bottlenecks in the traditional methods, i.e., (i) the direct translation of the complete task formula to the associated Büchi automaton; and (ii) the synchronized product between the Büchi automaton and the transition models of all agents. Instead, an adaptive planning algorithm is proposed that computes the product of relaxed partially-ordered sets (R-posets) on-the-fly, and assigns these subtasks to the agents subject to the ordering constraints. It is shown that the first valid plan can be derived with a polynomial time and memory complexity w.r.t. the system size and the formula length. Our method can take into account task formulas with a length of more than 400 and a fleet with more than $400$ agents, while most existing methods fail at the formula length of 25 within a reasonable duration. The proposed method is validated on large fleets of service robots in both simulation and hardware experiments.

cs.RO↗

arXiv2024

Uncertainty-bounded Active Monitoring of Unknown Dynamic Targets in Road-networks with Minimum Fleet

Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a challenging problem that requires online coordination and information fusion. The majority of existing works either assume a passive all-to-all observation model to minimize the summed uncertainties over all targets by all robots, or optimize over the jointed discrete actions while neglecting the dynamic constraints of the robots and unknown behaviors of the targets. This work proposes an online task and motion coordination algorithm that ensures an explicitly-bounded estimation uncertainty for the target states, while minimizing the average number of active robots. The robots have a limited-range perception to actively track a limited number of targets simultaneously, of which their future control decisions are all unknown. It includes: (i) the assignment of monitoring tasks, modeled as a flexible size multiple vehicle routing problem with time windows (m-MVRPTW), given the predicted target trajectories with uncertainty measure in the road-networks; (ii) the nonlinear model predictive control (NMPC) for optimizing the robot trajectories under uncertainty and safety constraints. It is shown that the robots can switch between active and inactive roles dynamically online as required by the unknown monitoring task. The proposed methods are validated via large-scale simulations of up to $100$ robots and targets.

cs.RO↗

arXiv2024

Spectral 2-actions, foams, and frames in the spectrification of Khovanov arc algebras

Leveraging skew Howe duality, we show that Lawson-Lipshitz-Sarkar's spectrification of Khovanov's arc algebra gives rise to 2-representations of categorified quantum groups over $\mathbb{F}_2$ that we call spectral 2-representations. These spectral 2-representations take values in the homotopy category of spectral bimodules over spectral categories. We view this as a step toward a higher representation theoretic interpretation of spectral enhancements in link homology. A technical innovation in our work is a streamlined approach to spectrifying arc algebras, using a set of canonical cobordisms that we call frames, that may be of independent interest. As a step towards extending these spectral 2-representations to integer coefficients, we also work in the $\mathfrak{gl}_2$ setting and lift the Blanchet-Khovanov algebra to a multifunctor into a multicategory version of Sarkar-Scaduto-Stoffregen's signed Burnside category.

math.QA↗

arXiv2023

Discovery and Timing of Millisecond Pulsars in the Globular Cluster M5 (NGC 5904) with FAST and Arecibo

We report on a comprehensive multi-wavelength study of the pulsars in the globular cluster (GC) M5, including the discovery of M5G, a new compact non-eclipsing "black widow" pulsar. Thanks to the analysis of 34 years of radio data taken with the FAST and Arecibo telescopes, we obtained new phase-connected timing solutions for four pulsars in the clusters and improved those of the other three known pulsars. These have resulted in, among other things: a) much improved proper motions for five pulsars, with transverse velocities that are smaller than their respective escape velocities; b) 3-sigma and 1.5-sigma detections of Shapiro delays in M5F and M5D, respectively; c) greatly improved measurement of the periastron advance in M5B, whose value of 0.01361(6) implies that M5B is still likely to be a heavy neutron star. The binary pulsars M5D, E and F are confirmed to be in low-eccentricity binary systems, the low-mass companions of which are newly identified to be He white dwarfs using Hubble Space Telescope data. Four pulsars are also found to be associated with X-ray sources. Similarly to the eclipsing pulsar M5C, M5G shows little or no non-thermal X-ray emission, indicative of weak synchrotron radiation produced by intra-binary shocks. All the seven pulsars known in M5 have short spin periods and five are in binary systems with low orbital eccentricities. These characteristics differ from the overall GC pulsar population, but confirm the expectations for the pulsar population in a cluster with a small rate of stellar encounters per binary system.

astro-ph.HE↗

arXiv2023

Accelerated K-Serial Stable Coalition for Dynamic Capture and Resource Defense

Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense by large-scale heterogeneous robotic teams is considered. The tasks include exploration, capture of dynamic targets, and perimeter defense over valuable resources. Since each robot can choose among many tasks, it remains a challenging problem to coordinate jointly these robots such that the overall utility is maximized. This work proposes a generic coalition strategy called K-serial stable coalition algorithm. Different from centralized approaches, it is distributed and complete, meaning that only local communication is required and a K-serial Stable solution is ensured. Furthermore, to accelerate adaptation to dynamic targets and resource distribution that are only perceived online, a heterogeneous graph attention network based heuristic is learned to select more appropriate parameters and promising initial solutions during local optimization. Compared with manual heuristics or end-to-end predictors, it is shown to both improve online adaptability and retain the quality guarantee. The proposed methods are validated via large-scale simulations with 170 robots and hardware experiments of 13 robots, against several strong baselines such as GreedyNE and FastMaxSum.

cs.RO↗

arXiv2023

Multi-agent Coordination Under Temporal Logic Tasks and Team-Wise Intermittent Communication

Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online decentralized coordination scheme for multi-agent systems under complex local tasks and intermittent communication constraints. Unlike existing strategies that enforce all-time or intermittent connectivity, our approach allows agents to join or leave communication networks at aperiodic intervals, as deemed optimal by their online task execution. This scheme concurrently determines local plans and refines the communication strategy, i.e., where and when to communicate as a team. A decentralized potential game is modeled among agents, for which a Nash equilibrium is generated iteratively through online local search. It guarantees local task completion and intermittent communication constraints. Extensive numerical simulations are conducted against several strong baselines.

cs.MA↗

arXiv2023

Combinatorial-hybrid Optimization for Multi-agent Systems under Collaborative Tasks

Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate sub-teams for different tasks; (ii) designing collaborative control strategies to execute these tasks. The former aspect can be combinatorial w.r.t. the team size, while the latter requires optimization over joint state-spaces under geometric and dynamic constraints. Existing work often tackles one aspect by assuming the other is given, while ignoring their close dependency. This work formulates such problems as combinatorial-hybrid optimizations (CHO), where both the discrete modes of collaboration and the continuous control parameters are optimized simultaneously and iteratively. The proposed framework consists of two interleaved layers: the dynamic formation of task coalitions and the hybrid optimization of collaborative behaviors. Overall feasibility and costs of different coalitions performing various tasks are approximated at different granularities to improve the computational efficiency. At last, a Nash-stable strategy for both task assignment and execution is derived with provable guarantee on the feasibility and quality. Two non-trivial applications of collaborative transportation and dynamic capture are studied against several baselines.

cs.RO↗

arXiv2023

Multi-UAV Deployment in Obstacle-Cluttered Environments with LOS Connectivity

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay information via a multi-hop network, which introduces two challenges: (i) how to design the structure of multi-hop networks; and (ii) how to maintain connectivity during collaborative motion. To this end, this work first proposes an efficient constrained search method based on the minimum-edge RRT$^\star$ algorithm, to find a spanning-tree topology that requires a less number of UAVs for the deployment task. To achieve this deployment, a distributed model predictive control strategy is proposed for the online motion coordination. It explicitly incorporates not only the inter-UAV and UAV-obstacle distance constraints, but also the line-of-sight (LOS) connectivity constraint. These constraints are well-known to be nonlinear and often tackled by various approximations. In contrast, this work provides a theoretical guarantee that all agent trajectories are ensured to be collision-free with a team-wise LOS connectivity at all time. Numerous simulations are performed in 3D valley-like environments, while hardware experiments validate its dynamic adaptation when the deployment position changes online.

cs.RO↗

arXiv2023

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing

Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances in enabling technologies such as sensing, learning, optimization, and hardware. This demands for robots that can observe and reason about their workspace, and that are skillfull enough to complete various assembly processes in weakly-structured settings. Moreover, it remains a great challenge to enable operators for teaching robots on-site, while managing the inherent complexity of perception, control, motion planning and reaction to unexpected situations. Motivated by real-world industrial applications, this paper demonstrates the potential of such a paradigm shift in robotics on the industrial case of an e-Bike motor assembly. The paper presents a concept for teaching and programming adaptive robots on-site and demonstrates their potential for the named applications. The framework includes: (i) a method to teach perception systems onsite in a self-supervised manner, (ii) a general representation of object-centric motion skills and force-sensitive assembly skills, both learned from demonstration, (iii) a sequencing approach that exploits a human-designed plan to perform complex tasks, and (iv) a system solution for adapting and optimizing skills online. The aforementioned components are interfaced through a four-layer software architecture that makes our framework a tangible industrial technology. To demonstrate the generality of the proposed framework, we provide, in addition to the motivating e-Bike motor assembly, a further case study on dense box packing for logistics automation.

cs.RO↗

arXiv2023

Reinforcement Learning Tutor Better Supported Lower Performers in a Math Task

Resource limitations make it hard to provide all students with one of the most effective educational interventions: personalized instruction. Reinforcement learning could be a key tool to reduce the development cost and improve the effectiveness of intelligent tutoring software that aims to provide the right support, at the right time, to a student. Here we illustrate that deep reinforcement learning can be used to provide adaptive pedagogical support to students learning about the concept of volume in a narrative storyline software. Using explainable artificial intelligence tools, we extracted interpretable insights about the pedagogical policy learned and demonstrated that the resulting policy had similar performance in a different student population. Most importantly, in both studies, the reinforcement-learning narrative system had the largest benefit for those students with the lowest initial pretest scores, suggesting the opportunity for AI to adapt and provide support for those most in need.

cs.AI↗

arXiv2023

Multi-Robot Trajectory Planning with Feasibility Guarantee and Deadlock Resolution: An Obstacle-Dense Environment

This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive optimization problem, where a novel safe corridor is generated online to ensure obstacle avoidance in trajectory planning. A dynamic-priority mechanism is combined with the right-hand rule to handle potential deadlocks that are much harder to resolve due to static obstacles. Comparisons with other state-of-the-art results are conducted to validate the improved safety and success rate. Additional hardware experiments are carried out with up to eight nano-quadrotors in various cluttered scenarios.

cs.RO↗

arXiv2023

Online Planning of Uncertain MDPs under Temporal Tasks and Safe-Return Constraints

This paper addresses the online motion planning problem of mobile robots under complex high-level tasks. The robot motion is modeled as an uncertain Markov Decision Process (MDP) due to limited initial knowledge, while the task is specified as Linear Temporal Logic (LTL) formulas. The proposed framework enables the robot to explore and update the system model in a Bayesian way, while simultaneously optimizing the asymptotic costs of satisfying the complex temporal task. Theoretical guarantees are provided for the synthesized outgoing policy and safety policy. More importantly, instead of greedy exploration under the classic ergodicity assumption, a safe-return requirement is enforced such that the robot can always return to home states with a high probability. The overall methods are validated by numerical simulations.

cs.RO↗