Related papers: Towards Interactive, Incremental Programming of RO…
Data analysis is at the core of scientific studies, a prominent task that researchers and practitioners typically undertake by programming their own set of automated scripts. While there is no shortage of tools and languages available for…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
We propose DeepSim, a reinforcement learning environment build toolkit for ROS and Gazebo. It allows machine learning or reinforcement learning researchers to access the robotics domain and create complex and challenging custom tasks in ROS…
Most commercial manufacturers of industrial robots require their robots to be programmed in a proprietary language tailored to the domain - a typical domain-specific language (DSL). However, these languages oftentimes suffer from…
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
In a high-tech country products are becoming rapidly more complex. To manage the development process as well as to encounter unforeseen challenges, the understanding and thus the explicit modeling of organizational workflows is more…
Reuse is a key technique for a more efficient development and ensures the quality of the results. In object technology explicit encapsulation, interfaces, and inheritance are well known principles for independent development that enable…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
This paper is an extension to an early presented programming language, called a domain specific language. This paper extends the proposed concept with new sensors and behaviours to address real-life situations. The functionality was tested…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…