Related papers: Porting Code Across Simple Mobile Robots
We developed StarL as a framework for programming, simulating, and verifying distributed systems that interacts with physical processes. StarL framework has (a) a collection of distributed primitives for coordination, such as mutual…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…
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…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Cross-platform development solutions can help to make software available on different devices and platforms. But these are normally restricted to preconfigured platforms and consider that each individual solution is equal or similar to each…
Robotics foundation models have demonstrated strong capabilities in executing natural language instructions across diverse tasks and environments. However, they remain largely data-driven and lack formal guarantees on safety and…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Building generalist embodied agents requires integrating perception, language understanding, and action, which are core capabilities addressed by Vision-Language-Action (VLA) approaches based on multimodal foundation models, including…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environments with significant inter-robot spatial and temporal…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
While Golog is an expressive programming language to control the high-level behavior of a robot, it is often tedious to use on a real robotic system. On an actual robot, the user needs to consider low-level details, such as enabling and…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…