Related papers: Reducing the Barrier to Entry of Complex Robotic S…
In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…
The methodology of Software-Defined Robotics hierarchical-based and stand-alone framework can be designed and implemented to program and control different sets of robots, regardless of their manufacturers' parameters and specifications,…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
Social Robotics poses tough challenges to software designers who are required to take care of difficult architectural drivers like acceptability, trust of robots as well as to guarantee that robots establish a personalised interaction with…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
Background: Requirements Changes (RCs) -- the additions/modifications/deletions of functional/non-functional requirements in software products -- are challenging for software practitioners to handle. Handling some changes may significantly…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
There is a growing need for better development methods and tools to keep up with the increasing complexity of new software systems. New types of user interfaces, the need for intelligent components, sustainability concerns, ... bring new…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…