Related papers: Towards Live Programming in ROS with PhaROS and LR…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…
Functional languages have provided major benefits to the verification community. Although features such as purity, a strong type system, and computational abstractions can help guide programmers away from costly errors, these can present…
An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
Software development for robotics applications is a sophisticated endeavor as robots are inherently complex. Explicit modeling of the architecture and behavior of robotics application yields many advantages to cope with this complexity by…
The study of robotic manipulators is the main goal of Industrial Robotics Class, part of Control Engineers training course. There is a difficulty in preparing academic practices and projects in the area of robotics due to the high cost of…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…
Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
We consider the Reactive Programming (RP) approach to simulate physical systems. The choice of RP is motivated by the fact that RP genuinely offers logical parallelism, instantaneously broadcast events, and dynamic creation/destruction of…
Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…