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This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decision-making, and intentional language communication. It…
With the spread of robots in unstructured, dynamic environments, the topic of path replanning has gained importance in the robotics community. Although the number of replanning strategies has significantly increased, there is a lack of…
This paper presents a communication framework built to simplify the construction of robotic ecologies, i.e., networks of heterogeneous computational nodes interfaced with sensors, actuators, and mobile robots. Building integrated ambient…
Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…
In this paper, we address the problem of designing a distributed application meant to run both classical and asynchronous iterations. MPI libraries are very popular and widely used in the scientific community, however asynchronous iterative…
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…
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…
ROOT is a data analysis framework broadly used in and outside of High Energy Physics (HEP). Since HEP software frameworks always strive for performance improvements, ROOT was extended with experimental support of runtime C++ Modules. C++…
In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and…
Distinct HEP workflows have distinct I/O needs; while ROOT I/O excels at serializing complex C++ objects common to reconstruction, analysis workflows typically have simpler objects and can sustain higher event rates. To meet these…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
Rich applications merge classical computing, client-server concurrency, web-based interfaces, and the complex time- and event-based reactive programming found in embedded systems. To handle them, we extend the Hop web programming platform…
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth reference tracking requires a low-level controller that converts…
Enterprise information systems have adopted Web-based foundations for exchanges between heterogeneous programmes. These programs provide and consume via Web APIs some resources identified by URIs, whose representations are transmitted via…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
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…
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close…
Automated parking stands as a highly anticipated application of autonomous driving technology. However, existing path planning methodologies fall short of addressing this need due to their incapability to handle the diverse and complex…