Related papers: Engineering the Hardware/Software Interface for Ro…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
The design and development of robots involve the essential step of selecting and testing robotic interfaces. This interface selection requires careful consideration as the robot's physical embodiment influences and adds to the traditional…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Validation of robotics theory on real-world hardware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we…
Aerial autonomous machines (Drones) has a plethora of promising applications and use cases. While the popularity of these autonomous machines continues to grow, there are many challenges, such as endurance and agility, that could hinder the…
Compound AI applications, composed from interactions between Large Language Models (LLMs), Machine Learning (ML) models, external tools and data sources are quickly becoming an integral workload in datacenters. Their diverse sub-components…
Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for…
The adoption of high-performance multi-core platforms in avionics and automotive systems introduces significant challenges in ensuring predictable execution, primarily due to shared resource interferences. Many existing approaches study…
We introduce the asprilo [1] framework to facilitate experimental studies of approaches addressing complex dynamic applications. For this purpose, we have chosen the domain of robotic intra-logistics. This domain is not only highly relevant…
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
System-level design, once the province of board designers, has now become a central concern for chip designers. Because chip design is a less forgiving design medium -- design cycles are longer and mistakes are harder to correct --…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Self-driving laboratories based on large language models promise to transform scientific discovery through general experimental automation. However, realizing this vision on precision platforms remains challenging, requiring deterministic…
This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous…
Writing declarative models has numerous benefits, ranging from automated reasoning and correction of design-level properties before systems are built, to automated testing and debugging of their implementations after they are built. Alloy…
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…