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Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes…
The ROOT software framework is foundational for the HEP ecosystem, providing capabilities such as IO, a C++ interpreter, GUI, and math libraries. It uses object-oriented concepts and build-time components to layer between them. We believe…
Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
Since their inception, Multi Agent Systems (MASs) have been championed as a solution for the increasing problem of software complexity. Communities of distributed autonomous computing entities that are capable of collaborating, negotiating…
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…
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…
Cooperative communications is a class of techniques which seek to improve reliability and throughput in wireless systems by pooling the resources of distributed nodes. While cooperation can occur at different network layers and time scales,…
This paper introduces a ROS Multi Ontology References (ARMOR) service, a general-purpose and scalable interface between robot architectures and OWL reasoners. ARMOR addresses synchronisation and communication issues among heterogeneous and…
Human-robot interaction can be regarded as a flow between users and robots. Designing good interaction flows takes a lot of effort and needs to be field tested. Unfortunately, the interaction flow design process is often very disjointed,…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a…
Mixture-of-Experts (MoE) approaches have recently gained traction in robotics applications due to their ability to dynamically allocate computational resources and specialize sub-networks for distinct tasks or environmental contexts,…
Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…