Related papers: Towards Error Handling in a DSL for Robot Assembly…
Fault tolerance is increasingly being use to design Dependable Digital Systems (DDS), which refers to the capability of a system to keep performing its intended functions in existence of faults. DDS are typically used in Safety-critical…
Developers of Molecular Dynamics (MD) codes face significant challenges when adapting existing simulation packages to new hardware. In a continuously diversifying hardware landscape it becomes increasingly difficult for scientists to be…
Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and…
The structures for the expression of fault-tolerance provisions into the application software are the central topic of this dissertation. Structuring techniques provide means to control complexity, the latter being a relevant factor for the…
Reliability is one of the major design criteria in Cyber-Physical Systems (CPSs). This is because of the existence of some critical applications in CPSs and their failure is catastrophic. Therefore, employing strong error detection and…
This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Deep Learning (DL) techniques are now widespread and being integrated into many important systems. Their classification and recognition abilities ensure their relevance for multiple application domains. As machine-learning that relies on…
Domain specific languages (DSL) have been used in a variety of fields to express complex scientific problems in a concise manner and provide automated performance optimization for a range of computational architectures. As such DSLs provide…
Metamodel-based DSL development in language workbenches like Xtext allows language engineers to focus more on metamodels and domain concepts rather than grammar details. However, the grammar generated from metamodels often requires manual…
Despite the success of the O-RAN Alliance in developing a set of interoperable interfaces, development of unique Radio Access Network (RAN) deployments remains challenging. This is especially true for military communications, where…
Many applications are increasingly requiring numerical simulations for solving complex problems. Most of these numerical algorithms are massively parallel and often implemented on parallel high-performance computers. However, classic…
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…
We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike other methods that rely on verbal or text commands, the…
Fault-tolerant distributed algorithms are central for building reliable spatially distributed systems. Unfortunately, the lack of a canonical precise framework for fault-tolerant algorithms is an obstacle for both verification and…
Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
The collaboration and interaction of multiple robots have become integral aspects of smart manufacturing. Effective planning and management play a crucial role in achieving energy savings and minimising overall costs. This paper addresses…
Domain-specific languages (DSLs) are both pervasive and powerful, but remain difficult to integrate into large projects. As a result, while DSLs can bring distinct advantages in performance, reliability, and maintainability, their use often…