Related papers: SO-MRS: a multi-robot system architecture based on…
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
In this paper we describe an architecture which: Permits the deployment and execution of components in appropriate geographical locations. Provides security mechanisms that prevent misuse of the architecture. Supports a programming model…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
Cloud robotics is a field of robotics that attempts to invoke Cloud technologies such as Cloud computing, Cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Nowadays, the Internet of Things (IoT) creates a vast ecosystem of intelligent objects interconnected via the Internet, allowing them to exchange information and to interact. This paradigm has been extended to a new concept, called the Web…
SOA (Service Oriented Architecture) is a new trend towards increasing the profit margins in an organization due to incorporating business services to business practices. Rational Unified Process (RUP) is a unified method planning form for…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
Since the advent of Large Language Models (LLMs), various research based on such models have maintained significant academic attention and impact, especially in AI and robotics. In this paper, we propose a multi-agent framework with LLMs to…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
SOA is a prominent paradigm for accomplishing reuse of services. Service reusability is one dominant factor which has a greater influence on achieving quality in SOA systems. There exists sufficient research in this area and researchers…
In the paper by W. Dai et al. (IEEE Trans. On Industrial Informatics, vol. 11, no. 3, pp. 771-781, June 2015), a formal model is described for the application of SOA in the distributed automation domain in order to achieve flexible…
This paper presents an architecture for the Project Management, which is defined using the concepts behind ServiceOriented and Decision Support System. The framework described, denominated as SoaDssPm, represents the following: a coherent…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
We present a comprehensive characterization study of open-source message-oriented middleware (MOM) systems. We followed a rigorous methodology to select and study ten popular and diverse MOM systems. For each system, we examine 42 features…
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…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…