Related papers: SO-MRS: a multi-robot system architecture based on…
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot interactions. Providers, Clients, and Robots share an…
In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance…
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…
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…
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
This paper introduces a novel architecture of distributed systems--called framed distributed system, or FDS--that braces a given system via a built-in virtual framework that controls the flow of messages between system components and…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
With plans to send humans to the Moon and further, the supply of resources like oxygen, water, fuel, etc., can be satiated by performing In-Situ Resource Utilization (ISRU), where resources from the extra-terrestrial body are extracted to…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
Service oriented architecture (SOA) is one of the latest software architectures. This architecture is created in direction of the business requirements and removed the gap between softwares and businesses. The software testing is the rising…
In this paper, we present foundations of the Socio-physical Model of Activities (SOMA). SOMA represents both the physical as well as the social context of everyday activities. Such tasks seem to be trivial for humans, however, they pose…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Systems-of-Systems (SoS) result from the collaboration of independent Constituent Systems (CSs) to achieve particular missions. CSs are not totally known at design time, and may also leave or join SoS at runtime, which turns the SoS…
The complexity of IoT, owing to the inherent distributed and dynamic nature of such systems, brings more challenges to the software development process. A vast number of devices with different communication protocols and data formats is…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Advancements in generative models have enabled multi-agent systems (MAS) to perform complex virtual tasks such as writing and code generation, which do not generalize well to physical multi-agent robotic teams. Current frameworks often…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…