Related papers: Engineering the Hardware/Software Interface for Ro…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
Functional aspects as well as the influence of integration technology on the system behavior have to be considered in the 3D integration design process of micro systems. Therefore, information from different physical domains has to be…
As the compute demands for machine learning and artificial intelligence applications continue to grow, neuromorphic hardware has been touted as a potential solution. New emerging devices like memristors, atomic switches, etc have shown…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…
We present a tool flow and results for a model-based hardware design for FPGAs from Simulink descriptions which nicely integrates into existing environments. While current commercial tools do not exploit some high-level optimizations, we…
Modular end-to-end (ME2E) autonomous driving paradigms combine modular interpretability with global optimization capability and have demonstrated strong performance. However, existing studies mainly focus on accuracy improvement, while…
ECLAIR is a Prolog-based prototype system aiming to provide a functionally complete environment for the study, development and evaluation of programming language analysis and implementation tools. In this paper, we sketch the overall…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
Ensuring predictability in modern real-time Systems-on-Chip (SoCs) is an increasingly critical concern for many application domains such as automotive, robotics, and industrial automation. An effective approach involves the modeling and…
This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…
Context: Specification mining techniques are typically used to extract the specification of a software in the absence of (up-to-date) specification documents. This is useful for program comprehension, testing, and anomaly detection.…
Optimizing the quality of result (QoR) and the quality of service (QoS) of AI-empowered autonomous systems simultaneously is very challenging. First, there are multiple input sources, e.g., multi-modal data from different sensors, requiring…
Large language models (LLMs) are becoming increasingly capable at small parameter scales. At the same time, conventional cloud-centric deployment introduces challenges around data privacy, latency, and cost that are acute in operational…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
As interfaces evolve from static user pathways to dynamic human-AI collaboration, no standard methods exist for selecting appropriate interface patterns based on user needs and task complexity. Existing frameworks only provide guiding…
Crafting automation systems tailored for specific domains requires aligning the space of human experts' semantics with the space of robot executable actions, and scheduling the required resources and system layout accordingly. Regrettably,…
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If…
Designing cyber-physical systems is a complex task which requires insights at multiple abstraction levels. The choices of single components are deeply interconnected and need to be jointly studied. In this work, we consider the problem of…
Reconfigurable computing refers to the use of processors, such as Field Programmable Gate Arrays (FPGAs), that can be modified at the hardware level to take on different processing tasks. A reconfigurable computing platform describes the…