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This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Context-Oriented Programming (COP) is a programming paradigm to encourage modularization of context-dependent software. Key features of COP are layers---modules to describe context-dependent behavioral variations of a software system---and…
In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…
People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developing robotic applications, since developers must understand…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…
The Scalable Systems Laboratory (SSL), part of the IRIS-HEP Software Institute, provides Institute participants and HEP software developers generally with a means to transition their R&D from conceptual toys to testbeds to production-scale…
Practical implementations of high-level languages must provide access to libraries and system services that have APIs specified in a low-level language (usually C). An important characteristic of such mechanisms is the foreign-interface…
Robotics hand/grippers nowadays are not limited to manufacturing lines; instead, they are widely utilized in cluttered environments, such as restaurants, farms, and warehouses. In such scenarios, they need to deal with high uncertainty of…
Oftentimes, there is a need to experiment with different programming languages and technologies when designing software applications. Such experiments must be reproducible and share-able within a team workplace, and manual effort should be…
Navigating large and complex indoor environments, such as universities, airports, and hospitals, can be cognitively demanding and requires attention and effort. While mobile applications provide convenient navigation support, they occupy…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Nowadays, the Internet of Things (IoT) creates a vast ecosystem of intelligent objects interconnected via the Internet, allowing them to exchange information and to interact. This paradigm has been extended to a new concept, called the Web…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
The task of Human-Object Interaction (HOI) detection targets fine-grained visual parsing of humans interacting with their environment, enabling a broad range of applications. Prior work has demonstrated the benefits of effective…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
Incorporating empathetic behavior into robots can improve their social effectiveness and interaction quality. In this paper, we present whEE (when and how to express empathy), a framework that enables social robots to detect when empathy is…
With the LHC continuing to collect more data and experimental analyses becoming increasingly complex, tools to efficiently develop and execute these analyses are essential. The bamboo framework defines a domain-specific language, embedded…