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As hardware and software systems have grown in complexity, formal methods have been indispensable tools for rigorously specifying acceptable behaviors, synthesizing programs to meet these specifications, and validating the correctness of…
As the number of robots in our daily surroundings like home, office, restaurants, factory floors, etc. are increasing rapidly, the development of natural human-robot interaction mechanism becomes more vital as it dictates the usability and…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…
Enabling machines to respond appropriately to natural language commands could greatly expand the number of people to whom they could be of service. Recently, advances in neural network-trained word embeddings have empowered non-embodied…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…