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The birth of Foundation Models brought unprecedented results in a wide range of tasks, from language to vision, to robotic control. These models are able to process huge quantities of data, and can extract and develop rich representations,…
This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around…
The analysis of cyber-physical systems (CPS) is challenging due to the large state space and the continuous changes occurring in their constituent parts. Design practices favor modularity to help reducing this complexity. In a previous…
Agent technology is a software paradigm that permits to implement large and complex distributed applications. In order to assist the development of multi-agent systems, agent-oriented methodologies (AOM) have been created in the last years…
Current models for software components have made component-based software engineering practical. However, these models are limited in the sense that their support for the characterization/specification of design components primarily deals…
The new applications being intended for more and more heterogeneous environments, it is necessary to propose solutions of development which answer in best the necessities of adaptation of new services. Component-based programming partially…
Software reliability is an important quality attrib-ute, often evaluated as either a function of time or of system structures. The goal of this study is to have this metric cover both for component-based software, be-cause its reliability…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…
Mathematical modeling of production systems is the foundation of all model-based approaches for production system analysis, design, improvement, and control. To construct such a model for the stochastic process of the production system more…
While large language models (LLMs) have shown great potential across various domains, their applications in robotics remain largely limited to static prompt-based behaviors and still face challenges in complex tasks under zero-shot or…
Model-driven engineering is the automatic production of software artefacts from abstract models of structure and functionality. By targeting a specific class of system, it is possible to automate aspects of the development process, using…
Software development for service robotics is inherently complex. Even a single robot requires the composition of several sensors, actuators, and software modules. The systems are usually developed by groups of domain experts, rarely…
Relating formal re nement techniques with commercial object oriented software development methods is important to achieve enhancement of the power and exibility of these software development methods and tools. We will present an automata…
Complex systems' modeling and simulation are powerful ways to investigate a multitude of natural phenomena providing extended knowledge on their structure and behavior. However, enhanced modeling and simulation require integration of…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Functional dependencies and feature interactions in automotive software systems are a major source of erroneous and deficient behavior. To overcome these problems, many approaches exist that focus on modeling these functional dependencies…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
Is it possible to understand the intricacies of a dynamical system not solely from its input/output pattern, but also by observing the behavior of other systems within the same class? This central question drives the study presented in this…
In the modern world, we are permanently using, leveraging, interacting with, and relying upon systems of ever higher sophistication, ranging from our cars, recommender systems in e-commerce, and networks when we go online, to integrated…