Related papers: SO-MRS: a multi-robot system architecture based on…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
This paper formally defines a robot system, including its sensing and actuation components, as a general, topological dynamical system. The focus is on determining general conditions under which various environments in which the robot can…
Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Multimodal large language models (MLLMs) have shown remarkable capabilities in cross-modal understanding and reasoning, offering new opportunities for intelligent assistive systems, yet existing systems still struggle with risk-aware…
Based on software-defined principles, we propose a holistic architecture for Cyberphysical Systems (CPS) and Internet of Things (IoT) applications, and highlight the merits pertaining to scalability, flexibility, robustness,…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Microservices architectures are a departure from traditional Service Oriented Architecture (SOA). Influenced by Domain Driven Design (DDD), microservices architectures aim to help business analysts and enterprise architects develop scalable…