Related papers: A Domain Specific Language for kinematic models an…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…

We introduce ai.txt, a novel domain-specific language (DSL) designed to explicitly regulate interactions between AI models, agents, and web content, addressing critical limitations of the widely adopted robots.txt standard. As AI…

We would like industrial robots to handle unstructured environments with cameras and perception pipelines. In contrast to traditional industrial robots that replay offline-crafted trajectories, online behavior planning is required for these…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Model transformations are helpful to evolve, refactor, refine and maintain models. While domain-specific languages are normally intuitive for modelers, common model transformation approaches (regardless of whether they transform graphical…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

Domain-specific languages (DSLs) are routinely created to simplify difficult or specialized programming tasks. They expose useful abstractions and design patterns in the form of language constructs, provide static semantics to eagerly…

Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.

Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…

Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with…

Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Architectural Description (AD) is the backbone that facilitates the implementation and validation of robotic systems. In general, current high-level ADs reflect great variation and lead to various difficulties, including mixing ADs with…

Context: Domain-specific languages (DSLs) enable domain experts to specify tasks and problems themselves, while enabling static analysis to elucidate issues in the modelled domain early. Although language workbenches have simplified the…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

Autonomous cyber-physical systems like robots and self-driving cars could greatly benefit from using formal methods to reason reliably about their control decisions. However, before a problem can be solved it needs to be stated. This…