Related papers: Porting Code Across Simple Mobile Robots
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
Distributed systems are notoriously difficult to understand and analyze in order to assert their correction w.r.t. given properties. They often exhibit a huge number of different behaviors, as soon as the active entities (peers, agents,…
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with…
An important ingredient of the future 5G systems will be Ultra-Reliable Low-Latency Communication (URLLC). A way to offer URLLC without intervention in the baseband/PHY layer design is to use interface diversity and integrate multiple…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Programs with constraints are hard to debug. In this paper, we describe a general architecture to help develop new debugging tools for constraint programming. The possible tools are fed by a single general-purpose tracer. A tracer-driver is…
Runtime verification is the process of verifying critical behavioral properties in big complex systems, where formal verification is not possible due to state space explosion. There have been several attempts to design efficient algorithms…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…
Distributed consistency is perhaps the most discussed topic in distributed systems today. Coordination protocols can ensure consistency, but in practice they cause undesirable performance unless used judiciously. Scalable distributed…
Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from…
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…
Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…