Related papers: Porting Code Across Simple Mobile Robots
Urban transportation systems encounter diverse challenges across multiple tasks, such as traffic forecasting, electric vehicle (EV) charging demand prediction, and taxi dispatch. Existing approaches suffer from two key limitations:…
We describe a strategy language to control the application of graph rewriting rules, and show how this language can be used to write high-level declarative programs in several application areas. This language is part of a graph-based…
Computational Workflows are widely used in data analysis, enabling innovation and decision-making. In many domains (bioinformatics, image analysis, & radio astronomy) the analysis components are numerous and written in multiple different…
Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods.…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
A major driver behind the success of modern machine learning algorithms has been their ability to process ever-larger amounts of data. As a result, the use of distributed systems in both research and production has become increasingly…
Hybrid workflows combining traditional HPC and novel ML methodologies are transforming scientific computing. This paper presents the architecture and implementation of a scalable runtime system that extends RADICAL-Pilot with service-based…
Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming…
The Large Language Models (LLM) are increasingly being deployed in robotics to generate robot control programs for specific user tasks, enabling embodied intelligence. Existing methods primarily focus on LLM training and prompt design that…
Computing systems have become increasingly complex with the emergence of heterogeneous hardware combining multicore CPUs and GPUs. These parallel systems exhibit tremendous computational power at the cost of increased programming effort.…
Emerging hybrid accelerator architectures for high performance computing are often suited for the use of a data-parallel programming model. Unfortunately, programmers of these architectures face a steep learning curve that frequently…
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
Healthcare poses diverse logistic requirements, which resulted in the deployment of several distinctly designed robots within a hospital setting. Each robot comes with its overheads in the form of, namely, none/limited scaling, dedicated…
Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions preserve ease, efficiency, and convenience through simple…
Modern language models demonstrate impressive coding capabilities in common programming languages (PLs), such as C++ and Python, but their performance in lower-resource PLs is often limited by training data availability. In principle,…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…