Related papers: Reducing the Barrier to Entry of Complex Robotic S…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
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…
Checking software application suitability using automated software tools has become a vital element for most organisations irrespective of whether they produce in-house software or simply customise off-the-shelf software applications for…
Motion planning is a critical component in any robotic system. Over the years, powerful tools like the Open Motion Planning Library (OMPL) have been developed, offering numerous motion planning algorithms. However, existing frameworks often…
Self-adaptivity allows software systems to autonomously adjust their behavior during run-time to reduce the cost complexities caused by manual maintenance. In this paper, a framework for building an external adaptation engine for…
Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots exploit…
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…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
The most important way to achieve higher performance in computer systems is through heterogeneous computing, i.e., by adopting hardware platforms containing more than one type of processor, such as CPUs, GPUs, and FPGAs. Several types of…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Despite the multitude of excellent software components and tools available in the robotics and broader software engineering communities, successful integration of software for robotic systems remains a time-consuming and challenging task…