Related papers: Porting Code Across Simple Mobile Robots
Search strategies are crucial to efficiently solve constraint satisfaction problems. However, programming search strategies in the existing constraint solvers is a daunting task and constraint-based languages usually have compositionality…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
The development of control policies for multi-robot systems traditionally follows a complex and labor-intensive process, often lacking the flexibility to adapt to dynamic tasks. This has motivated research on methods to automatically create…
Transport protocols continue to evolve to meet the demands of new applications, workloads, and network environments, yet implementing and evolving transport protocols remains difficult and costly. High-performance transport stacks tightly…
The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…
We present StochasticPrograms.jl, a user-friendly and powerful open-source framework for stochastic programming written in the Julia language. The framework includes both modeling tools and structure-exploiting optimization algorithms.…
It has been an ambition of many to control a robot for a complex task using natural language (NL). The rise of large language models (LLMs) makes it closer to coming true. However, an LLM-powered system still suffers from the ambiguity…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants bias their sampling using various…
Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…
In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…
Motion planning methods like navigation functions and harmonic potential fields provide (almost) global convergence and are suitable for obstacle avoidance in dynamically changing environments due to their reactive nature. A common…
This paper presents Merlin, a new framework for managing resources in software-defined networks. With Merlin, administrators express high-level policies using programs in a declarative language. The language includes logical predicates to…
Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…
Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task…
The structures for the expression of fault-tolerance provisions into the application software are the central topic of this dissertation. Structuring techniques provide means to control complexity, the latter being a relevant factor for the…
Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems into formal specifications such as the Planning Domain…
Deploying Vision-Language-Action (VLA) models in real-world robotics exposes a core multi-task learning challenge: reconciling task interference in multi-task robotic learning. When multiple tasks are jointly fine-tuned in a single stage,…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
Adding a pragma directive into the source code is arguably easier than rewriting it, for instance for loop unrolling. Moreover, if the application is maintained for multiple platforms, their difference in performance characteristics may…