Related papers: A platform-independent robot control architecture …
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
We demonstrate how multiagent systems provide useful control techniques for modular self-reconfigurable (metamorphic) robots. Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
In an effort to penetrate the market at an affordable cost, consumer robots tend to provide limited processing capabilities, just enough to serve the purpose they have been designed for. However, a robot, in principle, should be able to…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper proposes an initial theory for robotic systems that can be fully self-maintaining. The new design principles focus on functional survival of the robots over long periods of time without human maintenance. Self-maintaining…
Animal and robotic collective behaviours can exhibit complex dynamics that require multi-level descriptions. Here, we are interested in developing a multi-level modeling framework for the use of robots in studies about animal collective…
Software architectures for conversational robots typically consist of multiple modules, each designed for a particular processing task or functionality. Some of these modules are developed for the purpose of making decisions about the next…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Most studies in swarm robotics treat the swarm as an isolated system of interest. We argue that the prevailing view of swarms as self-sufficient, independent systems limits the scope of potential applications for swarm robotics. A robot…
Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…